Full-intelligent tailing pond stacking dam device

Abstract

The present application relates to the technical field of mining engineering, in particular to a full intelligent tailing pond dam stacking device, which comprises a row climbing device, a stretching and turning grabbing and releasing device, a main frame device, and a positioning analysis and frame connecting device; the main frame device comprises a front main frame, a middle main frame and a rear main frame, which are connected in sequence through the positioning analysis and frame connecting device; the row climbing device is symmetrically installed at the front rotating leg shaft, the middle rotating leg shaft and the rear rotating leg shaft at the bottom of the main frame device, and is used for realizing the movement and climbing of the device on the dam slope. The device realizes the multi-claw cooperative operation of the stretching and turning grabbing and releasing device and the continuous operation of the main frame device, replaces the traditional manual carrying and semi-mechanized operation mode. This efficiency breakthrough not only meets the rapid construction demand of the large-scale tailing pond with a filling capacity of millions of cubic meters, but also indirectly reduces the engineering cycle cost by reducing the process connection time, and solves the efficiency bottleneck of large-scale dam stacking.

Description

Technical Field

[0001] This invention relates to the field of mining engineering technology, and more specifically, to a fully intelligent tailings dam stacking device. Background Technology

[0002] Tailings dams, as core facilities for storing tailings in mining operations, directly determine the safety of mine production and the effectiveness of protecting the surrounding ecological environment through the stability of their dam structure. In tailings dam construction, riprap filling is a crucial step, but existing construction methods still face several technical bottlenecks that urgently need to be addressed. First, construction efficiency is insufficient to meet the demands of large-scale operations. Currently, riprap filling mainly relies on a combination of manual handling and mechanical assistance. Limited by the upper limit of human labor capacity and the efficiency of multi-process collaboration, the daily riprap stacking volume is generally less than 100 cubic meters. For large tailings dams with filling volumes often in the millions of cubic meters, this level of efficiency not only prolongs the construction period but also indirectly increases project costs.

[0003] Secondly, the operational safety risks remain high. The dam slopes are mostly sloping, and the work areas are often accompanied by complex conditions such as loose rocks and mud. When manually moving rocks, it is easy to fall or collide due to loss of balance. Furthermore, construction workers face the direct risk of falling from great heights while climbing the dam, making safety protection extremely difficult.

[0004] Third, there are potential risks to the structural stability of the dam. The manual stacking of stones relies entirely on experience to determine their placement, making precise matching based on stone shape impossible. This results in insufficient interlocking between stones, with a gap rate often exceeding 20%, directly reducing the dam's shear strength and overall density, thus creating potential hazards for future settlement, landslides, and other geological disasters.

[0005] Fourth, the level of intelligent management and control is lagging behind. Existing technology lacks the ability to collect and analyze the three-dimensional shape of the boulders in real time, making it impossible to implement the scientific stacking principle of "large faces down to enhance load-bearing capacity and small faces to fill gaps," which makes it difficult for the mechanical performance of the dam structure to meet the design standards.

[0006] Therefore, developing a fully intelligent tailings dam device that integrates autonomous walking, intelligent grasping, precise positioning, and morphological analysis is key to breaking through existing technological bottlenecks and improving the quality and safety of tailings dam projects. Summary of the Invention

[0007] The purpose of this invention is to provide a fully automated tailings dam stacking device to address the problem mentioned in the background art: the current method of riprap filling mainly relies on manual handling combined with mechanical assistance, which is limited by the upper limit of human labor and the efficiency of multi-process collaboration, resulting in a daily riprap stacking volume generally less than 100 cubic meters. For large tailings dams with filling volumes often in the millions of cubic meters, this level of efficiency not only prolongs the construction period but also indirectly increases the project cost.

[0008] To achieve the above objectives, this invention provides a fully intelligent tailings dam stacking device, including a climbing device, a telescopic grabbing and releasing device, a main frame device, and a positioning analysis and frame connection device. The main frame device includes a front main frame, a middle main frame, and a rear main frame, which are connected sequentially via the positioning analysis and frame connection device. The climbing device is symmetrically installed at the front, middle, and rear rotating leg shafts at the bottom of the main frame device, enabling the device to move and climb on the dam slope. The telescopic grabbing and releasing device includes a front claw, a middle claw, and a rear claw. The front claw is connected to the upper part of the AI ​​computing power unit of the main frame device, the middle claw is connected to both sides of the rock storage platform, and the rear claw is connected to the rear of the rock storage platform, used for grabbing, adjusting, and stacking rocks. The positioning analysis and frame connection device is electrically connected to the AI ​​computing power unit, used for collecting rock morphology information, analyzing the optimal placement position, calibrating the stacking positioning, and connecting the various frame structures.

[0009] This setup clearly defines the device as consisting of four main components: a climbing and movement system, a stretching and rotating grabbing system, a main frame system, and a positioning analysis and frame connection system. The positioning analysis and frame connection system connects the front, middle, and rear main frames. Each component works in a collaborative manner: the climbing and movement system is responsible for climbing, the stretching and rotating grabbing system is responsible for handling the boulders, and the positioning analysis and frame connection system is connected to the AI ​​computing power electromechanical system to achieve information processing and positioning, forming a complete fully intelligent dam stacking system.

[0010] As a preferred embodiment of the present invention, the walking and climbing device includes an elliptical connector, outer leg extensions, inner electric leg extensions, a leg rotation connecting shaft, a three-arc central connector, a single-arc rotating connector, a half-circle rotating component, a vertical rotating component, an angle rotating connecting shaft, a four-arc telescopic component, and a triangular stabilizing component. The upper part of the elliptical connector is connected to the front rotating leg shaft, the middle rotating leg shaft, and the rear rotating leg shaft of the main frame device, and the lower part is connected to the arc of the two outer leg extensions through the leg rotation connecting shaft. The outer leg extensions are nested and connected to the inner electric leg extensions, and the lower part is connected to the three-arc central connector through the leg rotation connecting shaft. The lower part of the three-arc central connector is connected to the single-arc rotating connector through the leg rotation connecting shaft. The lower part of the single-arc rotating connector is fixedly connected to the half-circle rotating component. The lower arc of the half-circle rotating component is connected to the upper part of the four vertical rotating components. The lower part of the vertical rotating component is connected to the four-arc telescopic component through the angle rotating connecting shaft. The lower part of the four-arc telescopic component is connected to the triangular stabilizing component through the angle rotating connecting shaft.

[0011] This section details the components and connection methods of the walking and climbing device. It is connected to the main frame through elliptical connectors. The various components (outer leg extensions, inner electric leg extensions, etc.) are connected through shaft-like parts to realize the extension, rotation, and angle adjustment of the legs. The triangular stabilizing component contacts the dam body to provide stable support.

[0012] As a preferred embodiment of the present invention, the extending and rotating gripping and releasing device includes a double-arc triangular component, a gripping control claw tip component, a plate extension control component, a claw arc stretching component, a rotating ball control component, a claw rotation connecting shaft, a multi-shaped ring component, a rear extending claw connecting circle, a rear extending claw telescopic rod, a rear extending claw rotating ball, a middle extending claw telescopic rod, a middle extending claw connecting circle, a middle extending claw rotating ball, a front extending claw rotating ball, a front extending claw connecting circle, and a front extending claw telescopic rod; the gripping and releasing single claw consists of a double-arc triangular component, a gripping control claw tip component, a plate extension control component, a claw arc stretching component, a rotating ball control component, a claw rotation connecting shaft, and a multi-shaped ring component. The system consists of a gripper and a plate extension control unit, which work together to adjust the gripping action. The rear extension gripper consists of a single gripping claw, a rear extension gripper connecting circle, a rear extension gripper telescopic rod, and a rear extension gripper rotating ball. The rear extension gripper connecting circle is connected to the rear of the stone storage platform. The middle extension gripper consists of a single gripping claw, a middle extension gripper telescopic rod, a middle extension gripper connecting circle, and a middle extension gripper rotating ball. The middle extension gripper connecting circle is connected to both sides of the stone storage platform. The front extension gripper consists of a single gripping claw, a front extension gripper rotating ball, a front extension gripper connecting circle, and a front extension gripper telescopic rod. The front extension gripper connecting circle is connected to the upper part of the AI ​​computing power unit.

[0013] This section describes the composition of the extension and rotation gripping device. The gripping single claw adjusts the gripping action through the cooperation of various components. The front, middle and rear extension claws are connected to different parts of the main frame. Multi-directional movement and rotation are achieved through the telescopic rod and rotating ball to complete the gripping, adjustment and stacking of the stones.

[0014] As a preferred embodiment of the present invention, the main frame device includes an AI computing power unit, a crash barrier, a front internal rotation motor, a front rotation leg shaft, a blocking barrier, a mud barrier, a data motor, a middle rotation leg shaft, a middle internal rotation motor, a stone storage platform, a stone stacking platform, a rear baffle, a rear rotation leg shaft, a rear internal rotation motor, and a full-coverage cover plate; the front main frame is composed of the AI ​​computing power unit, the crash barrier, the front internal rotation motor, and the front rotation leg shaft; the middle main frame is composed of the blocking barrier, the mud barrier, the data motor, the middle rotation leg shaft, the middle internal rotation motor, and the stone storage platform; the rear main frame is composed of the stone stacking platform, the rear baffle, the rear rotation leg shaft, the rear internal rotation motor, and the full-coverage cover plate; the front main frame and the middle main frame are connected by front-middle main fasteners and front-middle side fasteners, and the middle main frame and the rear main frame are connected by a middle-rear connecting circle and a middle-rear connecting rod.

[0015] This section describes the composition of the main frame device and the structure of each main frame. The front, middle, and rear main frames are connected by specific firmware and connectors, integrating key components such as AI computing power, motors, and platforms, providing an installation foundation and support for other devices.

[0016] As a preferred embodiment of the present invention, the positioning analysis and frame connection device includes a four-eye rotating instrument, a calibration and alignment instrument, a front-middle side fastener, a front-middle main fastener, a front-middle main fixing rod, a front-middle side fixing rod, a rotation recorder, a row observation instrument, a transmission main frame, a middle and rear connecting circle, and a middle and rear connecting rod. The four-eye rotating instrument is electrically connected to the AI ​​computing power and is used to collect three-dimensional morphological data of the boulders. The calibration and alignment instrument is electrically connected to the AI ​​computing power and is used for laser positioning. The front-middle main fastener and the front-middle side fastener are used to connect the front main frame and the middle main frame. The row observation instrument is installed on the stone storage platform through the transmission main frame and is used to detect the relative position of the device and the already piled dam body. The middle and rear connecting circle connects the middle main frame and the rear main frame through the middle and rear connecting rod.

[0017] This section describes the components of the positioning analysis and frame connection device. The four-eye rotating instrument collects data on the stones, the calibration counter achieves laser positioning, various firmware and connectors are responsible for frame connection, the row observation instrument detects the position, and each component is electromechanically connected to the AI ​​computing power to achieve information interaction and analysis.

[0018] As a preferred embodiment of the present invention, the bottom of the triangular stabilizing member is provided with anti-slip teeth; the semi-circular rotating member and the vertical rotating member are connected by a bearing to achieve 360° rotation; the vertical rotating member and the four-arc telescopic member are connected by an angle-rotor connecting shaft to achieve ±60° angle adjustment.

[0019] This feature further defines the details of the walking and climbing device. The triangular support has anti-slip teeth, the semi-circular rotating part and the vertical rotating part can rotate 360° through bearings, and the vertical rotating part and the four-arc telescopic part can be adjusted by ±60° angle.

[0020] As a preferred embodiment of the present invention, the inner side of the gripper tip is provided with a wear-resistant layer; the rotating ball control and the multi-shaped spherical component are connected by a ball joint to realize multi-directional rotation; the claw arc stretching component can extend and retract along an arc trajectory, and the plate extension control length component can extend and retract to adjust the gripping depth.

[0021] This feature refines the characteristics of the extension and gripping device. The gripping claw tip is equipped with a wear-resistant layer. The rotating ball control and the multi-shaped spherical component achieve multi-directional rotation through a ball joint. The claw arc extension component and the plate extension control component respectively achieve arc-shaped extension and gripping depth adjustment.

[0022] As a preferred embodiment of the present invention, the stone storage platform is provided with an anti-slip structure; the mud baffle is made of wear-resistant material; the front internal rotation motor, the middle internal rotation motor, and the rear internal rotation motor are all servo motors with adjustable speed.

[0023] This setting clarifies the details of the main frame device, with the stone storage platform having an anti-slip structure, the mud baffle made of wear-resistant material, and the front, middle, and rear internal rotation motors being adjustable speed servo motors.

[0024] As a preferred embodiment of the present invention, the four-eye rotating instrument includes multiple cameras for 360° shooting of the stones; the calibration and positioning instrument has a laser positioning function; and the row observation instrument consists of multiple sensors for detecting distance.

[0025] This setup defines the details of the positioning analysis and frame connection device. The quad-eye rotator contains multiple cameras for 360° shooting, the calibration counter has laser positioning function, and the array observation device consists of multiple sensors for distance measurement.

[0026] As a preferred embodiment of the present invention, the extension and rotation recorder is electrically connected to the AI ​​computing power machine, which can record the gripping force, extension length and rotation angle data of the extension and rotation gripping device in real time, and generate an estimated value of the weight of the stone by combining the stone shape information collected by the four-eye rotation instrument. This estimated value is used by the AI ​​computing power machine to dynamically adjust the gripping force of the gripping claw tip.

[0027] This setting explains the electrical connection between the extension and rotation recorder and the AI ​​computing power unit. It records relevant data from the extension, rotation, and gripping device, and combines this data with the rock shape information from the four-eye rotation instrument to generate a weight estimate, which is used to dynamically adjust the gripping force.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: 1. The fully automated tailings dam construction system represents a significant leap in construction efficiency. The device replaces traditional manual handling and semi-mechanized operation modes through the coordinated operation of the multi-claw gripping and releasing device and the continuous operation of the main frame device. This efficiency breakthrough not only meets the rapid construction needs of large tailings dams with a filling volume of millions of cubic meters, but also indirectly reduces the project cycle cost by reducing the time between processes, thus solving the efficiency bottleneck of large-scale dam construction. 2. The fully automated tailings dam system fundamentally reduces operational safety risks. The climbing device enables autonomous movement and stable support on dam slopes ranging from 30° to 60°, eliminating the need for manual climbing. The extension, rotation, and grabbing device, controlled by AI computing power, handles the grabbing, transporting, and stacking of boulders, completely avoiding the risks of falls and collisions during manual handling. Simultaneously, the positioning analysis and real-time monitoring functions of the frame connection device provide early warnings of dam slope anomalies, further enhancing operational safety and reducing the accident rate in high-risk working environments to near zero. 3. The fully automated tailings dam dam system exhibits significantly enhanced structural stability. By leveraging the 360° morphological data acquisition of the boulders using a four-eye rotating instrument and the intelligent analysis of the AI ​​computing power, the device can precisely implement the stacking logic of "large faces down to enhance load-bearing capacity and small faces to fill gaps," thereby improving the interlocking strength between the boulders. This optimization directly enhances the shear strength of the dam body, effectively solving the settlement and landslide hazards caused by manual stacking, and ensuring that the long-term stability of the dam body meets the safety design standards. 4. The intelligent control and management of the tailings dam stacking process has been upgraded in this fully intelligent tailings dam stacking device. The collaborative operation of the positioning analysis and frame connection device with the AI ​​computing power has constructed a closed-loop intelligent control system encompassing "morphological acquisition - data analysis - path planning - precise execution." The real-time fusion of 3D morphological data from the four-eye rotating instrument, position detection data from the row observation instrument, and motion feedback data from the extension and rotation recorder allows the device to dynamically adjust the gripping force and placement angle according to different rock shapes, achieving scientific stacking with a "one-stone-one-policy" approach. This level of intelligence not only reduces reliance on manual experience but also provides complete data support for subsequent dam quality traceability. 5. The wide adaptability of this fully automated tailings dam system to complex operating conditions. The walking and climbing device, through the 360° rotation of the semi-circular rotating component and the ±60° angle adjustment of the vertical rotating component, combined with the anti-slip toothed design of the triangular holding component, can stably walk on complex dam surfaces such as muddy and rocky terrain. The claw-arc stretching component of the extension-rotation grabbing and releasing device, in conjunction with the plate extension control component, can adapt to different specifications of boulders with diameters ranging from 0.5 to 2 meters, meeting diverse dam construction needs. The modular frame design of the device (front main frame, middle main frame, rear main frame) also facilitates flexible expansion according to the scale of construction, further broadening its application scenarios. Attached Figure Description

[0029] Figure 1 is a schematic diagram of the overall structure of the present invention; Figure 2 is a schematic diagram of the assembly of the walking and climbing device; Figure 3 shows the overall diagram of the walking and climbing device; Figure 4 is a schematic diagram of the assembly of the gripping single claw in the extension and rotation gripping device; Figure 5 is a schematic diagram of the assembly of the rear extension claw in the extension and rotation gripping device; Figure 6 shows the overall view of the rear extension claw; Figure 7 is a schematic diagram of the assembly of the middle extension claw in the extension and rotation gripping device; Figure 8 shows the overall view of the middle extension claw; Figure 9 is a schematic diagram of the assembly of the forward claw in the extension and rotation gripping device; Figure 10 shows an overall view of the forward-extending claw; Figure 11 is an overall diagram of the extension, rotation, gripping, and releasing device; Figure 12 is a schematic diagram of the assembly of the front main frame in the main frame assembly; Figure 13 is a schematic diagram of the assembly of the main frame in the main frame device; Figure 14 is a schematic diagram of the assembly of the rear main frame in the main frame assembly; Figure 15 is an overall diagram of the main frame assembly; Figure 16 is an overall diagram of the positioning analysis and frame connection device; The meanings of the labels in the diagram are as follows: 1. Elliptical Arc Connector; 2. Outer Leg Extension Component; 3. Inner Electric Leg Extension Component; 4. Leg Rotation Connecting Shaft; 5. Three-Arc Middle Connector; 6. Single-Arc Rotation Connector; 7. Half-Circle Rotating Component; 8. Vertical Rotating Component; 9. Angular Rotation Connecting Shaft; 10. Four-Arc Telescopic Component; 11. Triangular Holding Component; 12. Double-Arc Triangular Component; 13. Grip Control Claw Tip Component; 14. Plate Extension Control Component; 15. Claw Arc Extension; 16. Rotating Ball Control Component; 17. Claw Rotation Connecting Shaft; 18. Multi-Shaped Globe Component; 19. Rear Extension Claw Connecting Circle; 20. Rear Extension Claw Telescopic Rod; 21. Rear Extension Claw Rotating Ball; 22. Middle Extension Claw Telescopic Rod; 23. Middle Extension Claw Connecting Circle; 24. Middle Extension Claw Rotating Ball; 25. Front Extension Claw Rotating Ball; 26. Front Extension Claw Connecting Circle; 27. Forward extendable claw telescopic rod; 28. AI computing power unit; 29. ​​Anti-collision baffle; 30. Front internal rotation motor; 31. Front rotation leg shaft; 32. Barrier baffle; 33. Mudproof baffle; 34. Data motor; 35. Middle rotation leg shaft; 36. Middle internal rotation motor; 37. Stone storage platform; 38. Stone stacking platform; 39. Rear baffle; 40. Rear rotation leg shaft; 41. Rear internal rotation motor; 42. Full-coverage cover plate; 43. Four-eye rotator; 44. Calibration and alignment instrument; 45. Front middle side fastener; 46. Front middle main fastener; 47. Front middle main fixing rod; 48. Front middle side fixing rod; 49. Extension and rotation recorder; 50. Parallel observation instrument; 51. Transmission main frame; 52. Middle and rear connecting circle; 53. Middle and rear connecting rod. Detailed Implementation

[0030] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0031] This invention provides a fully intelligent tailings dam stacking device, such as... Figures 1-16As shown, the device includes a climbing device, a rotating and gripping device, a main frame device, and a positioning analysis and frame connection device. The main frame device includes a front main frame, a middle main frame, and a rear main frame, which are connected sequentially via the positioning analysis and frame connection device. The climbing device is symmetrically installed at the front rotating leg shaft 31, middle rotating leg shaft 35, and rear rotating leg shaft 40 at the bottom of the main frame device, and is used to enable the device to move and climb on the dam slope. The rotating and gripping device includes a front claw, a middle claw, and a rear claw. The front claw is connected to the upper part of the AI ​​computing power unit 28 of the main frame device, the middle claw is connected to both sides of the stone storage platform 37, and the rear claw is connected to the rear of the stone storage platform 37, and is used to grab, adjust, and stack stones. The positioning analysis and frame connection device is electrically connected to the AI ​​computing power unit 28 and is used to collect stone morphology information, analyze the optimal placement position, calibrate the stacking positioning, and connect the various frame structures.

[0032] The device comprises a climbing and walking mechanism, an extension and rotation gripping and releasing mechanism, a main frame assembly including a front main frame, a middle main frame, a rear main frame, and a positioning analysis and frame connection device. The positioning analysis and frame connection device enables the sequential connection of the front, middle, and rear main frames. The climbing and walking mechanism is symmetrically installed at the bottom of the main frame assembly at the front rotating leg shaft 31, middle rotating leg shaft 35, and rear rotating leg shaft 40, responsible for movement and climbing. The front, middle, and rear extended claws of the extension and rotation gripping and releasing mechanism are respectively connected to the upper part of the AI ​​computing power unit 28, the two sides of the stone storage platform 37, and the rear, responsible for stone handling. The positioning analysis and frame connection device is electrically connected to the AI ​​computing power unit 28 to achieve information processing and positioning, forming a complete system. The overall architecture ensures the functional connection of components such as the front rotating leg shaft 31, middle rotating leg shaft 35, and rear rotating leg shaft 40, laying the foundation for automated dam construction, achieving full-process collaboration, and breaking through the limitations of traditional operations.

[0033] In this embodiment, the walking and climbing device includes an elliptical connector 1, outer leg extensions 2, inner electric leg extensions 3, leg rotation connecting shaft 4, a three-arc central connector 5, a single-arc rotating connector 6, a semi-circular rotating component 7, a vertical rotating component 8, an angular rotating connecting shaft 9, a four-arc telescopic component 10, and a triangular stabilizing component 11. The upper part of the elliptical connector 1 is connected to the front rotating leg shaft 31, the middle rotating leg shaft 35, and the rear rotating leg shaft 40 of the main frame device, and the lower part is connected to the arc of the two outer leg extensions 2 through the leg rotation connecting shaft 4. The outer leg extensions 2 are nested and connected to the inner electric leg extensions 3, and the lower part is connected to the three-arc central connector 5 through the leg rotation connecting shaft 4. The lower part of the three-arc central connector 5 is connected to the single-arc rotating connector 6 through the leg rotation connecting shaft 4. The lower part of the single-arc rotating connector 6 is fixedly connected to the semi-circular rotating component 7. The lower arc of the semi-circular rotating component 7 is connected to the 4-axis... The upper part of the vertical rotating component 8; the lower part of the vertical rotating component 8 is connected to the four-arc telescopic component 10 through the angle-rotating connecting shaft 9; the lower part of the four-arc telescopic component 10 is connected to the triangular holding component 11 through the angle-rotating connecting shaft 9.

[0034] The climbing device includes an elliptical connector 1, an outer leg extension 2, an inner electric leg extension 3, a leg-rotating connecting shaft 4, a three-arc central connector 5, a single-arc rotating connector 6, a semi-circular rotating component 7, a vertical rotating component 8, an angle-rotating connecting shaft 9, a four-arc telescopic component 10, and a triangular stabilizing component 11. The upper part of the elliptical connector 1 is connected to the front rotating leg shaft 31, the middle rotating leg shaft 35, and the rear rotating leg shaft 40, while the lower part is connected to the outer leg extension 2 via the leg-rotating connecting shaft 4. Each component achieves telescopic, rotational, and angle adjustment through shaft-like parts, and the triangular stabilizing component 11 provides stable support. With the cooperation of components such as the elliptical connector 1 and the leg-rotating connecting shaft 4, the device can move stably on the dam slope, and the triangular stabilizing component 11 ensures no slippage, improving the ability to traverse complex terrain.

[0035] Specifically, the extending and rotating gripping device includes a double-arc triangular component 12, a gripping control claw tip component 13, a plate extension control component 14, a claw arc stretching component 15, a rotating ball control component 16, a claw rotation connecting shaft 17, a multi-shaped ring component 18, a rear extending claw connecting circle 19, a rear extending claw telescopic rod 20, a rear extending claw rotating ball 21, a middle extending claw telescopic rod 22, a middle extending claw connecting circle 23, a middle extending claw rotating ball 24, a front extending claw rotating ball 25, a front extending claw connecting circle 26, and a front extending claw telescopic rod 27; the gripping and releasing single claw consists of a double-arc triangular component 12, a gripping control claw tip component 13, a plate extension control component 14, a claw arc stretching component 15, a rotating ball control component 16, a claw rotation connecting shaft 17, and a multi-shaped ring component 19. The system consists of eight parts, with the gripping action adjusted through the cooperation of the claw arc extension component 15 and the plate extension control component 14. The rear extension claw consists of a single gripping claw, a rear extension claw connecting circle 19, a rear extension claw telescopic rod 20, and a rear extension claw rotating ball 21. The rear extension claw connecting circle 19 is connected to the rear of the stone storage platform 37. The middle extension claw consists of a single gripping claw, a middle extension claw telescopic rod 22, a middle extension claw connecting circle 23, and a middle extension claw rotating ball 24. The middle extension claw connecting circle 23 is connected to both sides of the stone storage platform 37. The front extension claw consists of a single gripping claw, a front extension claw rotating ball 25, a front extension claw connecting circle 26, and a front extension claw telescopic rod 27. The front extension claw connecting circle 26 is connected to the upper part of the AI ​​computing power machine 28.

[0036] The extension and rotation gripping device includes a double-arc triangular component 12, a gripping control claw tip component 13, a plate extension control component 14, a claw arc stretching component 15, a rotating ball control component 16, a claw rotation connecting shaft 17, a multi-shaped ring component 18, a rear extension claw connecting circle 19, a rear extension claw telescopic rod 20, a rear extension claw rotating ball 21, a middle extension claw telescopic rod 22, a middle extension claw connecting circle 23, a middle extension claw rotating ball 24, a front extension claw rotating ball 25, a front extension claw connecting circle 26, and a front extension claw telescopic rod 27. The gripping claw is composed of the double-arc triangular component 12, etc., and its gripping action is adjusted by the claw arc stretching component 15 and the plate extension control component 14. The front, middle, and rear extension claws are respectively connected to the AI ​​computing power unit 28 and the stone storage platform 37, achieving multi-directional movement through the telescopic rod and the rotating ball. Utilizing components such as the gripping control claw tip component 13 and the front extension claw telescopic rod 27, flexible gripping and precise stacking of stones are achieved. Multi-claw collaboration improves efficiency and reduces risk by replacing manual labor.

[0037] Furthermore, the main frame assembly includes an AI computing power unit 28, a crash barrier 29, a front internal rotation motor 30, a front rotation leg shaft 31, a barrier 32, a mudguard 33, a data motor 34, a middle rotation leg shaft 35, a middle internal rotation motor 36, a stone storage platform 37, a stone stacking platform 38, a rear baffle 39, a rear rotation leg shaft 40, a rear internal rotation motor 41, and a full-coverage cover 42; the front main frame consists of the AI ​​computing power unit 28, the crash barrier 29, the front internal rotation motor 30, and the front rotation leg shaft 31. The main frame consists of a middle main frame, which is composed of a baffle plate 32, a mud baffle plate 33, a data motor 34, a middle rotating leg shaft 35, a middle internal rotating motor 36, and a stone storage platform 37; the rear main frame consists of a stone storage platform 38, a rear baffle plate 39, a rear rotating leg shaft 40, a rear internal rotating motor 41, and a full-coverage cover plate 42; the front main frame and the middle main frame are connected by the front and middle main fasteners 46 and the front and middle side fasteners 45, and the middle main frame and the rear main frame are connected by the middle and rear connecting circle 52 and the middle and rear connecting rod 53.

[0038] The main frame assembly includes an AI computing power unit 28, a crash barrier 29, a front internal rotation motor 30, a front rotation leg shaft 31, a barrier 32, a mud barrier 33, a data motor 34, a middle rotation leg shaft 35, a middle internal rotation motor 36, a stone storage platform 37, a stone stacking platform 38, a rear baffle 39, a rear rotation leg shaft 40, a rear internal rotation motor 41, and a full-coverage cover 42. The front, middle, and rear main frames are each composed of corresponding components and are connected by front and middle main fasteners 46, front and middle side fasteners 45, and middle and rear connecting circles 52 and middle and rear connecting rods 53, providing support for other devices. The stone storage platform 37, the stone stacking platform 38, etc., have clear division of labor, and the front internal rotation motor 30, etc., ensure structural stability, improve overall load-bearing capacity and operational orderliness.

[0039] Furthermore, the positioning analysis and frame connection device includes a four-eye rotator 43, a calibration counterpoint 44, front-middle side fasteners 45, front-middle main fasteners 46, front-middle main fixing rods 47, and front-middle side fixing rods 48, a rotation recorder 49, a row observation device 50, a transmission main frame 51, a middle-rear connecting circle 52, and a middle-rear connecting rod 53. The four-eye rotator 43 is electrically connected to the AI ​​computing power machine 28 and is used to collect three-dimensional morphological data of the boulders. The calibration counterpoint 44 is electrically connected to the AI ​​computing power machine 28 and is used for laser positioning. The front-middle main fasteners 46 and the front-middle side fasteners 45 are used to connect the front main frame and the middle main frame. The row observation device 50 is installed on the stone storage platform 37 through the transmission main frame 51 and is used to detect the relative position of the device and the already piled dam body. The middle-rear connecting circle 52 connects the middle main frame and the rear main frame through the middle-rear connecting rod 53.

[0040] The positioning analysis and frame connection device includes a four-eye rotating instrument 43, a calibration and alignment instrument 44, front-middle side fasteners 45, front-middle main fasteners 46, front-middle main fixing rods 47, and front-middle side fixing rods 48, a rotation recorder 49, a row observation instrument 50, a transmission main frame 51, a middle and rear connecting circle 52, and a middle and rear connecting rod 53. The four-eye rotating instrument 43 and the calibration and alignment instrument 44 are electrically connected to the AI ​​computing power machine 28. The front-middle main fasteners 46 and other components connect to the frame, and the row observation instrument 50 detects the position. The four-eye rotating instrument 43 collects data, the calibration and alignment instrument 44 provides precise positioning, and the middle and rear connecting circle 52 and other components stabilize the frame, providing data and structural support for intelligent dam construction.

[0041] Furthermore, the bottom of the triangular stabilizing component 11 is provided with anti-slip teeth; the semi-circular rotating component 7 and the vertical rotating component 8 are connected by bearings to achieve 360° rotation; the vertical rotating component 8 and the four-arc telescopic component 10 are connected by an angle-rotor connecting shaft 9 to achieve ±60° angle adjustment.

[0042] The triangular stabilizing component 11 has anti-slip teeth on its bottom. The semi-circular rotating component 7 and the vertical rotating component 8 can rotate 360° through bearings. The vertical rotating component 8 and the four-arc telescopic component 10 can be adjusted to ±60° angle through the angle screw connecting shaft 9. The triangular stabilizing component 11 enhances the grip, and the adjustment function of the semi-circular rotating component 7 and the vertical rotating component 8 improves the adaptability of the device to different slopes.

[0043] Furthermore, the gripper tip 13 has a wear-resistant layer on its inner side; the rotating ball control 16 is connected to the multi-shaped spherical component 18 through a ball joint to achieve multi-directional rotation; the claw arc stretching component 15 can extend and retract along an arc trajectory, and the plate extension control length component 14 can extend and retract to adjust the gripping depth.

[0044] The gripper tip 13 has a wear-resistant layer on its inner side. The rotating ball control 16 and the multi-shaped spherical component 18 rotate in multiple directions through a ball joint. The claw arc extension component 15 extends and retracts in an arc shape, and the plate extension control component 14 adjusts the gripping depth. The gripper tip 13 has an extended service life, and the rotating ball control 16 and other components make gripping more flexible and adaptable to different stones.

[0045] Furthermore, the stone storage platform 37 has an anti-slip structure on its surface; the mud baffle 33 is made of wear-resistant material; and the front internal rotation motor 30, the middle internal rotation motor 36, and the rear internal rotation motor 41 are all servo motors with adjustable speed.

[0046] The stone storage platform 37 features an anti-slip structure on its surface, and the mud-proof baffle 33 is made of wear-resistant material. The front internal rotation motor 30, the middle internal rotation motor 36, and the rear internal rotation motor 41 are adjustable-speed servo motors. The stone storage platform 37 prevents stones from sliding, the mud-proof baffle 33 is durable, and the servo motors make operation more precise.

[0047] Furthermore, the four-eye rotating instrument 43 includes multiple cameras for 360° shooting of the rocks; the calibration counter 44 has laser positioning function; and the row observation instrument 50 consists of multiple sensors for detecting distance.

[0048] The quad-eye gyroscope 43 contains multiple cameras for 360° imaging of the rocks, the calibration counter 44 uses laser positioning, and the array observation device 50 consists of multiple sensors for distance measurement. The quad-eye gyroscope 43 ensures comprehensive data, the calibration counter 44 improves positioning accuracy, and the array observation device 50 guarantees accurate positioning.

[0049] Furthermore, the extension and rotation recorder 49 is electrically connected to the AI ​​computing power machine 28, which can record the gripping force, extension length and rotation angle data of the extension and rotation gripping device in real time, and generate an estimated value of the weight of the stone by combining the stone shape information collected by the four-eye rotation instrument 43. This estimated value is used by the AI ​​computing power machine 28 to dynamically adjust the gripping force of the gripping claw tip 13.

[0050] The extension and rotation recorder 49 is electrically connected to the AI ​​computing power unit 28 to record data such as gripping force. Combined with the stone information from the four-eye rotation instrument 43, it generates a weight estimate, which is used to adjust the force of the gripping claw tip 13. This enables dynamic adjustment of the gripping claw tip 13's force, preventing damage or loss of the stone and improving the level of intelligence.

[0051] In use, the fully intelligent tailings dam stacking device of the present invention is rigidly connected by components such as the front main frame, middle main frame, and rear main frame through components such as the front and middle main fasteners 46 and the middle and rear connecting circles 52, forming a stable overall structure. The AI ​​computing power unit 28 serves as the control core, receiving sensor data from the positioning analysis device, such as the rock shape data from the four-eye rotator 43 and the position data from the row observation device 50. It generates control commands through algorithms to drive the motors of the climbing device, such as the front internal rotation motor 30, and the telescopic rods of the extension and rotation grabbing device, such as the front extension claw telescopic rod 27, to work together. The elliptical connector 1 is connected to the main frame via the front rotating leg shaft 31, etc. The extension and retraction of the inner electric leg extension 3 can adjust the leg length. The multi-angle rotation of the semi-circular rotating part 7 and the vertical rotating part 8, with a rotation angle of 360° + ±60°, can adapt to dam slopes of 30°-60°. The anti-slip teeth of the triangular holding part 11 increase the friction to ensure that the device does not slip on muddy or rocky surfaces, achieving stable movement and climbing. The single gripper uses the arc extension and retraction of the claw extension member 15 and the length adjustment of the plate extension control member 14, combined with the multi-directional rotation of the rotating ball control 16, to achieve adaptive gripping of stones of different shapes. The extension rods of the front, middle and rear extension claws, such as the extension rod 20 of the rear extension claw, and the rotating ball, such as the rotating ball 24 of the middle extension claw, work together to transfer the stones to any designated position, completing the continuous action of "grabbing-transferring-stacking". The four-eye rotating instrument 43 uses multiple cameras to collect 360° three-dimensional data of the stones. The AI ​​computing power machine 28 analyzes the features of the stones, such as the largest and smallest faces, through image recognition algorithms to generate the optimal placement scheme of "large face down, small face filled". The laser positioning accuracy of the calibrating instrument 44 is ±2mm and the distance detection of the row observation instrument 50 is calibrated to ensure that the deviation of the stone stacking position is ≤5mm. The data such as the gripping force recorded by the extension and rotation recorder 49 is combined with the shape of the stones to estimate the weight, so as to realize the dynamic adjustment of the force of the gripping claw tip 13 to avoid damage or falling of the stones. Work process Step 1: Device placement and commissioning The device is moved to the dam operation area, the data motor 34 is started, the internal electric leg extension 3 of the walking and climbing device extends and retracts to adjust the leg length, the half-circle rotating part 7 rotates the vertical rotating part 8, so that the triangular holding part 11 is in close contact with the dam surface, and the contact pressure is fed back by the sensor. The front inner rotating motor 30, the middle inner rotating motor 36, and the rear inner rotating motor 41 work together to adjust the device so that it is parallel to the dam slope. The row observation instrument 50 detects the relative position of the device with the already piled dam body, and the data is fed back to the AI ​​computing power machine 28 to confirm the initial positioning. Step 2: Information Collection and Analysis of Stone Blocks External machinery transports the stones to the stone storage platform 37. The four-eye rotating instrument 43 is activated, and four high-definition cameras take 360° pictures of the stones, collecting three-dimensional data such as size, edges and corners, and the position of the largest / smallest face, which is then transmitted to the AI ​​computing machine 28. The AI ​​computing power machine 28 analyzes the shape of the stones through algorithms, generates the optimal placement scheme with the large face down to increase the contact area, and fills the small face to reduce gaps, and calculates the stacking coordinates with an accuracy of ±5mm. Step 3: Grabbing the Rock The telescopic rod 22 of the middle extension claw extends and retracts, and the rotating ball 25 of the front extension claw and the rotating ball 24 of the middle extension claw rotate, causing the single claw to move to the top of the stone on the stone storage platform 37. The rotating ball control 16 adjusts the gripping angle, the claw arc stretching component 15 extends in an arc shape, and the plate extension control component 14 extends, causing the gripping control claw tip component 13 to open; then the claw arc stretching component 15 retracts, the plate extension control component 14 shortens, and the gripping control claw tip component 13 closes to grip the stone. The gripping force is adaptively adjusted according to the weight of the stone calculated based on the motor current fed back by the extension and rotation recorder 49. Step 4: Stone Transfer and Positioning The forward extension claw telescopic rod 27 and the middle extension claw telescopic rod 22 extend and retract in tandem to transfer the boulders to the stacking area in front of the boulders platform 38. The calibration counter 44 emits a laser positioning line to the preset stacking point. The AI ​​computing power 28 compares the current position of the stone with the target position. The horizontal angle is adjusted by the forward claw rotating ball 25, etc., and the height is adjusted by the extension and extension of the four-arc telescopic component 10 to ensure that the center of the stone coincides with the laser line. Step 5: Stone stacking According to the optimal angle planned by the AI ​​computing power machine 28, the rotating ball control 16 rotates so that the large face of the stone is facing down and aligned with the stacking point, and the claw tip 13 slowly opens to complete the stacking. The observation instrument 50 takes real-time pictures of the stacked position. If the deviation exceeds 5mm, the middle and rear extension claws will slightly extend and retract the blocks through the claw arc tensioning component 15 to make minor adjustments until the requirements are met. Step 6: Equipment movement and cyclical operation After a single stone is stacked, the front inner rotating motor 30 drives the front rotating leg shaft 31 to lift the front extension leg. The middle inner rotating motor 36 and the rear inner rotating motor 41 work together to drive the middle rotating leg shaft 35 and the rear rotating leg shaft 40, moving the device forward by 0.5-2m depending on the size of the stone. During the movement, the semi-circular rotating part 7 adjusts the angle of the vertical rotating part 8 to ensure that the triangular holding part 11 always makes stable contact with the dam body. Repeat steps two through six until the day's work is completed. Step 7: Completion of the assignment and data recording The telescopic rod of the extension and gripping device retracts, the gripper opens, the inner electric leg extension 3 retracts to its shortest state, and the device exits the work area. The extension and rotation recorder 49 generates a daily operation report, including the dam volume of 300-500 cubic meters and the average gap rate of the boulders ≤8%. The data is stored in the AI ​​computing power machine 28 and can be remotely transmitted to the management terminal.

[0052] Finally, it should be noted that the electronic components in the data motor 34, the internal rotating motor 36, etc. in this embodiment are all general standard parts or parts known to those skilled in the art. Their structure and principle can be known to those skilled in the art through technical manuals or conventional experimental methods. In the idle part of this device, all the above-mentioned electrical components are connected by wires. The specific connection method should refer to the working order between each electrical component in the above working principle to complete the electrical connection. They are all technologies known in the art.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely preferred examples and are not intended to limit the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the present invention as claimed. The scope of protection of the present invention is defined by the appended claims and their equivalents.

Claims

1. A fully automated tailings dam stacking device, characterized in that: The device includes a climbing device, a telescopic gripping device, a main frame device, and a positioning analysis and frame connection device. The main frame device includes a front main frame, a middle main frame, and a rear main frame, which are connected sequentially by the positioning analysis and frame connection device. The climbing device is symmetrically installed at the front rotating leg shaft (31), middle rotating leg shaft (35), and rear rotating leg shaft (40) at the bottom of the main frame device to enable the device to move and climb on the dam slope. The telescopic gripping device includes a front extending claw, a middle extending claw, and a rear extending claw. The rear and front extension claws are connected to the upper part of the AI ​​computing power unit (28) of the main frame device. The AI ​​computing power unit (28) is installed on the front main frame. The middle extension claw is connected to both sides of the stone storage platform (37). The rear extension claw is connected to the rear of the stone storage platform (37). It is used to grab, adjust and stack stones. The stone storage platform (37) is installed on the middle main frame. The positioning analysis and frame connection device is electrically connected to the AI ​​computing power unit (28). It is used to collect stone morphology information, analyze the optimal placement position, calibrate the stacking positioning and connect each frame structure. The positioning analysis and frame connection device includes a four-eye rotator (43), a calibration counterpoint (44), a front-middle side fastener (45), a front-middle main fastener (46), a front-middle main fixing rod (47), a front-middle side fixing rod (48), a rotation recorder (49), a row observation device (50), a transmission main frame (51), a middle and rear connecting circle (52), and a middle and rear connecting rod (53). The four-eye rotator (43) is electrically connected to the AI ​​computing power machine (28) and is used to collect three-dimensional morphological data of the boulders. The calibration counterpoint (44) is electrically connected to the AI ​​computing power machine (28) and is used for laser positioning. The front-middle main fastener (46) and the front-middle side fastener (45) are used to connect the front main frame and the middle main frame. The row observation device (50) is installed on the stone storage platform (37) through the transmission main frame (51) and is used to detect the relative position of the device and the already piled dam body. The middle and rear connecting circle (52) connects the middle main frame and the rear main frame through the middle and rear connecting rod (53). The extension and rotation recorder (49) is electrically connected to the AI ​​computing power machine (28) and can record the gripping force, extension length and rotation angle data of the extension and rotation gripping device in real time. It can also generate an estimated value of the weight of the stone by combining the stone shape information collected by the four-eye rotator (43). This estimated value is used by the AI ​​computing power machine (28) to dynamically adjust the gripping force of the gripping control claw tip (13).

2. The fully automated tailings damming device according to claim 1, characterized in that: The walking and climbing device includes an elliptical connector (1), an outer leg extension (2), an inner electric leg extension (3), a leg rotation connecting shaft (4), a three-arc central connector (5), a single-arc rotating connector (6), a half-circle rotating component (7), a vertical rotating component (8), an angle rotating connecting shaft (9), a four-arc telescopic component (10), and a triangular stabilizing component (11); the upper part of the elliptical connector (1) is connected to the front rotating leg shaft (31), the middle rotating leg shaft (35), and the rear rotating leg shaft (40) of the main frame device. The lower part is connected to the arc of the two outer leg extensions (2) via the leg-rotating connecting shaft (4); the inner leg extension (2) is nested with the inner electric leg extension (3), and the lower part is connected to the three-arc middle connector (5) via the leg-rotating connecting shaft (4); the lower part of the three-arc middle connector (5) is connected to the single-arc rotating connector (6) via the leg-rotating connecting shaft (4); the lower part of the single-arc rotating connector (6) is fixedly connected to the half-circle rotating component (7); the lower arc of the half-circle rotating component (7) is connected to the upper part of the four vertical rotating components (8); the lower part of the vertical rotating component (8) is connected to the four-arc telescopic component (10) via the angle-rotating connecting shaft (9); the lower part of the four-arc telescopic component (10) is connected to the triangular holding component (11) via the angle-rotating connecting shaft (9).

3. The fully automated tailings damming device according to claim 1, characterized in that: The extension and rotation gripping device includes a double-arc triangular component (12), a gripping control claw tip component (13), a plate extension control component (14), a claw arc stretching component (15), a rotating ball control component (16), a claw rotation connecting shaft (17), a multi-shaped ring component (18), a rear extension claw connecting circle (19), a rear extension claw telescopic rod (20), a rear extension claw rotating ball (21), a middle extension claw telescopic rod (22), a middle extension claw connecting circle (23), a middle extension claw rotating ball (24), a front extension claw rotating ball (25), a front extension claw connecting circle (26), and a front extension claw telescopic rod (27); the gripping and releasing single claw consists of a double-arc triangular component (12), a gripping control claw tip component (13), a plate extension control component (14), a claw arc stretching component (15), a rotating ball control component (16), a claw rotation connecting shaft (17), and a multi-shaped ring. The ball component (18) is composed of a claw arc stretching component (15) and a plate extension control component (14) to achieve the adjustment of the gripping action; the rear extension claw is composed of a gripping and releasing single claw, a rear extension claw connecting circle (19), a rear extension claw telescopic rod (20), and a rear extension claw rotating ball (21), and the rear extension claw connecting circle (19) is connected to the rear of the stone storage platform (37); the middle extension claw is composed of a gripping and releasing single claw, a middle extension claw telescopic rod (22), a middle extension claw connecting circle (23), and a middle extension claw rotating ball (24), and the middle extension claw connecting circle (23) is connected to both sides of the stone storage platform (37); the front extension claw is composed of a gripping and releasing single claw, a front extension claw rotating ball (25), a front extension claw connecting circle (26), and a front extension claw telescopic rod (27), and the front extension claw connecting circle (26) is connected to the upper part of the AI ​​computing machine (28).

4. The fully automated tailings dam stacking device according to claim 1, characterized in that: The main frame device includes an AI computing power unit (28), a crash barrier (29), a front internal rotation motor (30), a front rotation leg shaft (31), a barrier (32), a mud barrier (33), a data motor (34), a middle rotation leg shaft (35), a middle internal rotation motor (36), a stone storage platform (37), a stone stacking platform (38), a rear baffle (39), a rear rotation leg shaft (40), a rear internal rotation motor (41), and a full-coverage cover plate (42); the front main frame consists of an AI computing power unit (28), a crash barrier (29), a front internal rotation motor (30), and a front rotation leg shaft. (31) The middle main frame consists of a barrier baffle (32), a mud baffle (33), a data motor (34), a middle rotating leg shaft (35), a middle inner rotating motor (36), and a stone storage platform (37); the rear main frame consists of a stone storage platform (38), a rear baffle (39), a rear rotating leg shaft (40), a rear inner rotating motor (41), and a full-coverage cover plate (42); the front main frame and the middle main frame are connected by the front middle main fastener (46) and the front middle side fastener (45), and the middle main frame and the rear main frame are connected by the middle and rear connecting circle (52) and the middle and rear connecting rod (53).

5. The fully automated tailings dam stacking device according to claim 2, characterized in that: The bottom of the triangular holding member (11) is provided with anti-slip teeth; the semi-circular rotating member (7) and the vertical rotating member (8) are connected by bearings to achieve 360° rotation; the vertical rotating member (8) and the four-arc telescopic member (10) are connected by an angle-rotor connecting shaft (9) to achieve ±60° angle adjustment.

6. The fully automated tailings dam stacking device according to claim 3, characterized in that: The gripper tip (13) has a wear-resistant layer on its inner side; the rotating ball control (16) and the multi-shaped spherical ball (18) are connected by a ball joint to achieve multi-directional rotation; the claw arc stretching part (15) can extend and retract along the arc trajectory, and the plate extension control part (14) can extend and retract to adjust the gripping depth.

7. The fully automated tailings dam stacking device according to claim 4, characterized in that: The stone storage platform (37) has an anti-slip structure on its surface; the mud baffle (33) is made of wear-resistant material; the front internal rotation motor (30), the middle internal rotation motor (36), and the rear internal rotation motor (41) are all servo motors with adjustable speed.

8. The fully automated tailings dam stacking device according to claim 1, characterized in that: The four-eye rotating instrument (43) includes multiple cameras for 360° shooting of the stones; the calibration counter (44) has laser positioning function; the row observation instrument (50) consists of multiple sensors for detecting distance.

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