Intelligent clamping shackle device for underground drill rig and control method

Abstract

The invention discloses an intelligent clamping shackle device for an underground drill rig and a control method. The intelligent clamping shackle device comprises a clamping device, a shackle device body, a connecting base and a forcing device. The clamp holder and the shackle device are fixed on the connecting base; the forcing device is a double-rod double-acting forcing oil cylinder with a central through hole and is concentrically mounted in front of the shackle device; by detecting the spatial position of the slip, the drill rod is adjusted, and righting of the upper buckle of the drill rod is completed; and through the forcing device, the torque required by shackle is effectively reduced. According to the invention, the automatic control of the clamping and shackling processes of the clamping device can be realized, the shackling brake torque can be reduced, the stress condition of the clamping shackling device can be improved, the lightweight of the clamping shackling device is facilitated, and the early warning of the service life of the slip can be carried out in real time.

Description

Technical Field

[0001] The invention belongs to the technical field of coal mine tunnel drilling equipment and relates to an intelligent clamping shackle for a tunnel drilling rig and a control method. Background Art

[0002] In recent years, the technology of automatic loading and unloading drill rods for underground tunnel drilling rigs in coal mines has been promoted to a certain extent. As the torque of the drilling rig gradually increases, the brake torque of the unloading rig is increased by increasing the size of the clamping unloading rig by increasing the oil cylinder of the clamping unloading rig. The friction force is increased by increasing the pressure, which causes the clamping rig to deform, resulting in problems such as slippage and deformation of the drill rod. In addition, during the design process, the pressure of the clamping unloading rig is designed based on the maximum torque of the drilling rig. During use, each clamping is performed under the maximum pressure, which seriously affects the life of the drill rod and the construction period. In addition, the degree of automation is low and it cannot be integrated into the overall system of the intelligent drilling rig. Summary of the invention

[0003] In view of the deficiencies in the prior art, the purpose of the present invention is to provide an intelligent clamping shackle and a control method for a tunnel drilling rig, so as to solve the problems that the current tunnel drilling rig adopts a clamping shackle with a low degree of intelligence, can only simply realize automated operation, applies maximum pressure each time the clamping shackle is clamped, and lacks protection for the life of the drill pipe. The present solution can reduce the braking torque of the shackle, improve the stress condition of the clamping shackle, is conducive to lightweighting of the clamping shackle, and can provide real-time early warning of the service life of the slip.

[0004] In order to solve the above technical problems, the present invention adopts the following technical solutions to achieve the above problems:

[0005] An intelligent clamping shackle for a tunnel drilling rig comprises a clamping device, a shackle, a connecting base and a force adding device; the clamping device and the shackle are fixed to the connecting base;

[0006] The clamp comprises a clamping top cylinder, a clamping slip and a clamping top cylinder seat; the clamping top cylinder is mounted on the clamping top cylinder seat, and the bottom wall of the clamping top cylinder seat is mounted on the connecting base; the clamping slip is mounted on the front end of the cylinder rod of the clamping top cylinder and is located in the slip groove of the clamping top cylinder seat; a displacement sensor is arranged in the clamping top cylinder to feedback the displacement of the clamping slip and the depth of the embedded drill pipe through the stroke; a vibration sensor is installed on one side of the clamping top cylinder seat;

[0007] The breaker comprises a breaker top cylinder, a breaker slip, a breaker top cylinder seat, a breaker cylinder and a breaker mounting seat; the breaker top cylinder is mounted on the breaker top cylinder seat, the breaker top cylinder seat is arranged on the connecting base through the breaker seat, and the breaker cylinder can push the breaker top cylinder seat to rotate concentrically relative to the breaker seat; the breaker slip is mounted on the front end of the breaker top cylinder rod, and can move forward and backward in the slip groove of the breaker top cylinder seat; a displacement sensor is arranged in the breaker top cylinder to feedback the displacement of the breaker slip and the depth of embedding into the drill pipe through the stroke; a vibration sensor is installed on one side of the breaker top cylinder seat;

[0008] The force adding device is a double-rod double-acting force adding oil cylinder with a central through hole, which is coaxially installed in front of the breaker.

[0009] The present invention also includes the following technical features:

[0010] Specifically, the boosting cylinder of the boosting device has a connecting plate at the end of the cylinder rod near the breaker side; the connecting plate is provided with 4 waist-shaped grooves and is connected to the breaker slip by bolts, and the bolt heads are not tightened, leaving a 3mm gap; the connecting plate can directly tighten the breaker slip by moving along the axial direction of the drill pipe clamp slip through the cylinder rod; the connecting plate can drive the breaker slip to follow up under the action of the bolt by moving in the opposite direction of the drill pipe clamp slip through the cylinder rod; when the breaker top cylinder is extended or retracted, the bolts on the breaker slip can slide in the waist-shaped groove of the connecting plate.

[0011] Specifically, the boost cylinder pressure value P=M max / 0.6dS, where M max is the reference value of the breakout torque, d represents the thread diameter of the drill pipe, S represents the rod cavity area of ​​the cylinder, and P≦12MPa.

[0012] Specifically, the internal displacement sensors of the clamping top cylinder and the shackle top cylinder can record the extension amounts JL0Ai, JL0Bi, XL0Ai, and XL0Bi of the four cylinders at the moment of pressure stability, the extension amounts JL1Ai, JL1Bi, XL1Ai, and XL1Bi at the moment of pressure change, and the extension amounts JL2Ai, JL2Bi, XL2Ai, and XL2Bi at the moment of pressure stability, where i is the number of times; in order to eliminate the influence of pressure fluctuations, the stroke of the top cylinder is used as an auxiliary variable, and the quadratic inverse of the time is calculated using the cava stroke to obtain the acceleration, and the pressure change is recorded as effective when the acceleration changes; in the above formula, J is the clamp, X is the shackle, K is the cava, M is the wear amount, L is the extension amount, A represents the left side, B represents the right side, i represents the number of counts, 0 represents stable pressure, 1 represents a sudden pressure change, and 2 represents stability after the sudden pressure change.

[0013] Specifically, the wear amount of the four slips of the clamper slip and the shackle slip is obtained through the formula JKMAi=JL2Ai-JL0, JKMBi=JL2Bi-JL0, XKMAi=XL2Ai-XL0, XKMBi=XL2Bi-XL0, which is used to judge the slip wear life warning, and an alarm is triggered when the wear amount exceeds the specified value.

[0014] Specifically, the vibration sensor can detect the vibration when the slips and the drill pipe slip, compare it with the vibration waveform without slipping, and use the pressure fluctuation of the top cylinder as a check. If both occur at the same time, it is judged as slipping.

[0015] The control method of the intelligent clamping shackle for a tunnel drilling rig first performs centering initialization: the rotator clamps the drill rod, and the drill rod enters the clamp and the shackle in sequence; the shackle top cylinder is extended, and the extension amount XL0A0 and XL0B0 at the time of pressure stability, the extension amount XL1A0 and XL1B0 at the time of pressure change, and the extension amount XL2A0 and XL2B0 at the time of pressure change stability are recorded; the clamping top cylinder is extended, and the extension amount JL0A0 and JL0B0 at the time of pressure stability, the extension amount JL1A0 and JL1B0 at the time of pressure change, and the extension amount JL2A0 and JL2B0 at the time of pressure stability are recorded, and the XL0 value is calculated by XL0=(XL0A0+XL0B0) / 2, and the JL0 value is calculated by JL0=(JL0A0+JL0B0) / 2.

[0016] Specifically, after the alignment is initialized, the operation begins, including the following steps:

[0017] Step 1: The rotator rotates to perform drilling operations and collects the maximum torque M of the power head during the drilling process max As a reference value for the shackle torque;

[0018] Step 2: When drilling, extend the shackle top cylinder at the same time. When the pressure of one side of the cylinder changes significantly for the first time and XL1A<0.95XL0, stop the movement of the opposite side cylinder and continue to extend one side of the cylinder. When the cylinder displacement XL1A=XL0, stop the movement and the opposite side cylinder starts to move to the pressure setting value to complete the drill pipe centering clamping; if XL1A≥0.95XL0, continue to extend the cylinders on both sides to complete the clamping;

[0019] Step 3: After the rotator reverses and the active drill rod is withdrawn, the new drill rod is placed in the clamp and the clamping cylinder is extended to complete the clamping; after the rotator completes the connection between the active drill rod and the tail buckle of the new drill rod, the clamp is released, and the head of the new drill rod is connected to the tail buckle of the remaining drill rod, the breaker is released, and drilling continues;

[0020] Step 4: When breaking out, place the two drill pipes between the breakout device and the clamp, extend the breakout top cylinder, when the pressure of one side of the cylinder changes significantly for the first time, and XL1A<0.95XL0, stop the movement of the opposite side cylinder, continue to extend one side of the cylinder, when the cylinder displacement XL1A=XL0, stop the movement, the opposite side cylinder starts to move to the pressure setting value, and the drill pipe is clamped; if XL1A≥0.95XL0, and the cylinders on both sides continue to extend to complete the clamping; then extend the clamping top cylinder to complete the clamping;

[0021] Step 5: Record the extension amounts of the four oil cylinders JL0Ai, JL0Bi, XL0Ai, XL0Bi when the pressure is stable, the extension amounts JL1Ai, JL1Bi, XL1Ai, XL1Bi when the pressure changes, and the extension amounts JL2Ai, JL2Bi, XL2Ai, XL2Bi when the pressure is stable, calculate the wear amount of the four slips, and alarm when the wear amount exceeds the specified value;

[0022] Step 6: After clamping, the booster cylinder extends toward the breaker slip, the connecting plate presses the breaker slip, causing the two drill rods to be squeezed, and the breaker cylinder extends to breaker; when the connection between the two drill rods slides relative to each other, the booster cylinder releases pressure and floats, the clamp is opened, and the drill rod moves backward for a distance under the drive of the power head reversal, and then the clamp is closed to clamp the next drill rod;

[0023] Step 7: The rotator continues to reverse, completing the unbuckling of the active drill rod and the next drill rod, the clamp is released, the drill rod is taken out, and a drill unbuckling cycle is completed;

[0024] Step 8: When the drill pipe and the slips slip and the buckle cannot be removed, the vibration sensor will collect signals and indicate an abnormality. Re-clamp the screws and increase the top cylinder pressure by 10%, then start again from step 4.

[0025] Compared with the prior art, the present invention has the following technical effects:

[0026] The present invention can detect the spatial position of the slips and adjust the drill rod support to complete the straightening of the drill rod buckle.

[0027] The present invention effectively reduces the torque required for shackle by using the force adding device.

[0028] The invention can realize automatic control of the clamping and shackle processes of the clamper.

[0029] The present invention can provide early warning of slip wear and prompt timely replacement of the slips. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 This is a schematic diagram of the structure of an intelligent clamping shackle for a tunnel drilling rig.

[0031] Figure 2 This is a side view of the smart clamping shackle for tunnel drilling rigs.

[0032] Figure 3 A top view of the smart clamping shackle for tunnel drilling rigs.

[0033] Figure 4 This is a cross-sectional view of an intelligent clamping shackle for a tunnel drilling rig.

[0034] Figure 5 This is the logic diagram of the slip wear detection control method.

[0035] Figure 6 This is the logic diagram of the drill pipe centering control method.

[0036] The meaning of each number in the figure is:

[0037] 1. Clamp, 2. Breaker, 3. Connecting base, 4. Force device; 101. Clamping top cylinder, 102. Vibration sensor I, 103. Clamp slip, 104. Displacement sensor I, 105. Clamping top cylinder seat; 201. Breaker top cylinder, 202. Breaker slip, 203. Displacement sensor II, 204. Breaker cylinder, 205. Vibration sensor II, 206. Breaker top cylinder seat, 207. Breaker mounting seat. DETAILED DESCRIPTION

[0038] Specific embodiments of the present invention are given below. It should be noted that the present invention is not limited to the following specific embodiments, and all equivalent changes made on the basis of the technical solution of this application fall within the protection scope of the present invention.

[0039] Embodiment 1:

[0040] like Figures 1 to 4 As shown, this embodiment provides an intelligent clamping shackle for a tunnel drilling rig, comprising a clamp 1, a shackle 2, a connecting base 3 and a force applying device 4; the clamp 1 and the shackle 2 are fixed to the connecting base 3 by bolts.

[0041] The clamp 1 includes a clamping top cylinder 101, a clamping cava 103, and a clamping top cylinder seat 105; the clamping top cylinder 101 is installed on the clamping top cylinder seat 105, and the bottom wall of the clamping top cylinder seat 105 is installed on the connecting base 3; the clamping cava 103 is installed on the front end of the cylinder rod of the clamping top cylinder 101 by bolts, and is located in the cava groove of the clamping top cylinder seat 105; a displacement sensor is provided in the clamping top cylinder 101 to feedback the displacement of the clamping cava 103 and the depth of embedding in the drill pipe through the stroke; a vibration sensor is installed on one side of the clamping top cylinder seat 105.

[0042] The breaker 2 includes a breaker top cylinder 201, a breaker slip 202, a breaker top cylinder seat 206, a breaker cylinder 204 and a breaker mounting seat 207; the breaker top cylinder 201 is installed on the breaker top cylinder seat 206, and the breaker top cylinder seat 206 is arranged on the connecting base 3 through the breaker mounting seat 207. The breaker cylinder 204 can push the breaker top cylinder seat 206 to rotate concentrically relative to the breaker mounting seat 207. Specifically, the bottom of the breaker cylinder 204 is installed on the drilling rig. The top is connected to the lower part of one side of the shackle top cylinder seat; the shackle top cylinder seat can rotate relative to the shackle device mounting seat and the rotation center is coaxial with the drill pipe; the shackle device slip 202 is installed at the front end of the cylinder rod of the shackle top cylinder 201 by bolts, and can move back and forth in the slip groove of the shackle top cylinder seat 206; a displacement sensor is provided in the shackle top cylinder 201 to feedback the displacement of the shackle device slip 202 and the depth of embedding into the drill pipe through the stroke; a vibration sensor is installed on one side of the shackle top cylinder seat 206.

[0043] The boosting device 4 is a double-rod double-acting boosting cylinder with a central through hole, which is concentrically installed in front of the breaker 2 by bolts.

[0044] Specifically, the displacement sensor and the vibration sensor on the clamp are displacement sensor I104 and vibration sensor I102 respectively; the displacement sensor and the vibration sensor on the shackle are displacement sensor II203 and vibration sensor II205 respectively.

[0045] The boosting cylinder of the boosting device 4 has a connecting plate at the end of the cylinder rod near the breaker 2; the connecting plate is provided with 4 waist-shaped grooves and is connected to the breaker slip 202 by bolts, and the bolt heads are not tightened, leaving a 3mm gap; the connecting plate can directly tighten the breaker slip 202 by moving along the axial direction of the drill pipe clamp slip 103 through the cylinder rod; the connecting plate can drive the breaker slip 202 to follow up under the action of the bolts by moving in the opposite direction of the drill pipe clamp slip 103 through the cylinder rod; when the breaker top cylinder 201 is extended or retracted, the bolts on the breaker slip 202 can slide in the waist-shaped groove of the connecting plate.

[0046] Afterburner cylinder pressure value P = M max / 0.6dS, where M max is the reference value of the breakout torque, d represents the thread diameter of the drill pipe, S represents the rod cavity area of ​​the cylinder, and P≦12MPa.

[0047] The clamping top cylinder 101 and the shackle top cylinder 201 monitor the maximum input torque of the power head during the drilling construction, calculate the top cylinder pressure using the built-in algorithm, and control the cylinder pressure through the pressure reducing valve to complete the clamping of the drill pipe.

[0048] The internal displacement sensors of the clamping top cylinder 101 and the shackle top cylinder 201 can record the extension amounts JL0Ai, JL0Bi, XL0Ai, XL0Bi of the four cylinders at the time of pressure stability, the extension amounts JL1Ai, JL1Bi, XL1Ai, XL1Bi at the time of pressure change, and the extension amounts JL2Ai, JL2Bi, XL2Ai, XL2Bi at the time of pressure stability, where i is the number of times; in order to eliminate the influence of pressure fluctuations, the top cylinder stroke is used as an auxiliary variable, and the second inverse of the time is calculated by the slip stroke to obtain the acceleration, and the pressure change is recorded as effective when the acceleration changes; in the above formula, J is the clamp 1, X is the shackle 2, K is the slip, M is the wear amount, L is the extension amount, A represents the left side, B represents the right side, i represents the number of counts, 0 represents stable pressure, 1 represents a sudden pressure change, and 2 represents stability after the sudden pressure change.

[0049] Tunnel drilling rig with intelligent clamping shackle for slip wear detection method: through the formula

[0050] JKMAi=JL2Ai-JL0, JKMBi=JL2Bi-JL0, XKMAi=XL2Ai-XL0, XKMBi=XL2Bi-XL0 obtains the wear amount of the four slips of the clamper slip 103 and the shackle slip 202, which is used to judge the slip wear life warning, and an alarm is triggered when the wear amount exceeds the specified value.

[0051] The tunnel drilling rig uses an intelligent clamping shackle to determine whether the slips and drill rods are slipping: the vibration sensor can detect the vibration when the slips and drill rods slip, compare it with the vibration waveform when there is no slipping, and use the pressure fluctuation of the top cylinder as a check. If both occur at the same time, it is judged as slipping.

[0052] In other embodiments, the tooth shape of the slip can have different shapes, which can ensure the braking torque of the shackle while reducing the embedding amount of the slip in the drill pipe; the detection of the position can be realized in different ways, and different sensors such as displacement sensors and wire sensors can detect the position. The reduction of the preload force at the drill pipe joint can be realized in different ways. The shackle slip and the clamp slip can be driven to be relatively pressed by the booster cylinder, or the rear end drill pipe can be directly pressed by the rotator. Different sensors are used to determine whether the slip and the drill pipe are sliding, and then determine whether to shackle.

[0053] Embodiment 2:

[0054] This embodiment provides a control method for an intelligent clamping shackle for a tunnel drilling rig, such as Figure 5 and Figure 6First, perform the centering initialization: the rotator clamps the drill pipe, and the drill pipe enters the clamp and the breaker in turn; extend the breaker top cylinder, record the extension amount XL0A0, XL0B0 when the pressure is stable, the extension amount XL1A0, XL1B0 when the pressure changes, and the extension amount XL2A0, XL2B0 when the pressure changes and stabilizes; extend the clamping top cylinder, record the extension amount JL0A0, JL0B0 when the pressure is stable, the extension amount JL1A0, JL1B0 when the pressure changes, and the extension amount JL2A0, JL2B0 when the pressure is stable, calculate the XL0 value through XL0=(XL0A0+XL0B0) / 2, and calculate the JL0 value through JL0=(JL0A0+JL0B0) / 2.

[0055] After the alignment is initialized, the operation begins, which includes the following steps:

[0056] Step 1: The rotator rotates to perform drilling operations and collects the maximum torque M of the power head during the drilling process max As a reference value for the shackle torque;

[0057] Step 2: When drilling, extend the shackle top cylinder at the same time. When the pressure of one side cylinder (assuming it is 201A) changes significantly for the first time, and XL1A<0.95XL0, stop the movement of the opposite side cylinder 201B, and continue to extend one side cylinder 201A. When the cylinder displacement XL1A=XL0, stop the movement, and the opposite side cylinder 201B starts to move to the pressure setting value to complete the drill pipe centering clamping; if XL1A≥0.95XL0, continue to keep the two sides of the cylinder continue to extend to complete the clamping;

[0058] Step 3: After the rotator reverses and the active drill rod is withdrawn, the new drill rod is placed in the clamp and the clamping top cylinder is extended to complete the clamping; after the rotator completes the connection between the active drill rod and the new drill rod tail buckle, the clamp is released, and the connection between the new drill rod head and the drill rod tail buckle is continued, and the breaker is released to continue drilling;

[0059] Step 4: When breaking the shackle, place the two drill pipes between the shackle device and the clamp, extend the shackle top cylinder, and when the pressure of one side cylinder (assuming it is 201A) changes significantly for the first time, and XL1A<0.95XL0, stop the movement of the opposite side cylinder 201B, and continue to extend one side cylinder 201A. When the cylinder displacement XL1A=XL0, stop the movement, and the opposite side cylinder 201B starts to move to the pressure setting value to complete the drill pipe centering clamping; if XL1A≥0.95XL0, and continue to keep the cylinders on both sides extending to complete the clamping; then extend the clamping top cylinder to complete the clamping;

[0060] Step 5: Record the extension amounts of the four oil cylinders JL0Ai, JL0Bi, XL0Ai, XL0Bi when the pressure is stable, the extension amounts JL1Ai, JL1Bi, XL1Ai, XL1Bi when the pressure changes, and the extension amounts JL2Ai, JL2Bi, XL2Ai, XL2Bi when the pressure is stable, calculate the wear amount of the four slips, and alarm when the wear amount exceeds the specified value;

[0061] Step 6: After clamping, the booster cylinder extends toward the breaker slip, the connecting plate presses the breaker slip, causing the two drill rods to be squeezed, and the breaker cylinder extends to breaker; when the connection between the two drill rods slides relative to each other, the booster cylinder releases pressure and floats, the clamp is opened, and the drill rod moves backward for a distance under the drive of the power head reversal, and then the clamp is closed to clamp the next drill rod;

[0062] Step 7: The rotator continues to reverse, completing the unbuckling of the active drill rod and the next drill rod, the clamp is released, the drill rod is taken out, and a drill unbuckling cycle is completed;

[0063] Step 8: When the drill pipe and the slips slip and the buckle cannot be removed, the vibration sensor will collect signals and indicate an abnormality. Re-clamp the screws and increase the top cylinder pressure by 10%, then start again from step 4.

[0064] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0065] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0066] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. An intelligent clamping shackle for a tunnel drilling rig, characterized in that: It comprises a clamp (1), a shackle (2), a connecting base (3) and a force-applying device (4); the clamp (1) and the shackle (2) are fixed to the connecting base (3); The clamp (1) comprises a clamping top cylinder (101), a clamping slip (103), and a clamping top cylinder seat (105); the clamping top cylinder (101) is mounted on the clamping top cylinder seat (105), and the bottom wall of the clamping top cylinder seat (105) is mounted on the connecting base (3); the clamping slip (103) is mounted on the front end of the cylinder rod of the clamping top cylinder (101) and is located in the slip groove of the clamping top cylinder seat (105); a displacement sensor is provided in the clamping top cylinder (101) to feedback the displacement of the clamping slip (103) and the depth of embedding into the drill rod through the stroke; a vibration sensor is installed on one side of the clamping top cylinder seat (105); The breaker (2) comprises a breaker counter-attachment oil cylinder (201), a breaker slip (202), a breaker counter-attachment oil cylinder seat (206), a breaker cylinder (204) and a breaker mounting seat (207); the breaker counter-attachment oil cylinder (201) is mounted on the breaker counter-attachment oil cylinder seat (206), the breaker counter-attachment oil cylinder seat (206) is arranged on the connection base (3) through the breaker mounting seat (207), and the breaker cylinder (204) can push the breaker counter-attachment oil cylinder The seat (206) rotates concentrically relative to the shackle mounting seat (207); the shackle slip (202) is mounted on the front end of the cylinder rod of the shackle top cylinder (201) and can move forward and backward in the slip groove of the shackle top cylinder seat (206); a displacement sensor is provided in the shackle top cylinder (201) to feedback the displacement of the shackle slip (202) and the depth of embedding into the drill rod through the stroke; a vibration sensor is installed on one side of the shackle top cylinder seat (206); The force adding device (4) is a double-rod double-acting force adding oil cylinder with a central through hole, which is coaxially installed in front of the breaker (2).

2. The intelligent clamping shackle for tunnel drilling rig according to claim 1, characterized in that: The boosting oil cylinder of the boosting device (4) is provided with a connecting plate at the end of the cylinder rod near the breaker (2); the connecting plate is provided with four waist-shaped grooves and is connected to the breaker slip (202) by bolts, and the bolt heads are not pressed tightly, leaving a gap of 3 mm; the connecting plate can directly press the breaker slip (202) by moving along the axial direction of the drill rod toward the clamp slip (103) through the cylinder rod; the connecting plate can drive the breaker slip (202) to follow the action of the bolts by moving in the opposite direction of the clamp slip (103) along the axial direction of the drill rod through the cylinder rod; when the breaker top cylinder (201) is extended or retracted, the bolts on the breaker slip (202) can slide in the waist-shaped grooves of the connecting plate.

3. The intelligent clamping shackle for tunnel drilling rig according to claim 1, characterized in that: The booster cylinder pressure value P=M max / 0.6dS, where M max is the reference value of the breakout torque, d represents the thread diameter of the drill pipe, S represents the rod cavity area of ​​the cylinder, and P≦12MPa.

4. The intelligent clamping shackle for tunnel drilling rig according to claim 3, characterized in that: The internal displacement sensors of the clamping top cylinder (101) and the shackle top cylinder (201) can record the extension amounts JL0Ai, JL0Bi, XL0Ai, XL0Bi of the four cylinders at the time of pressure stability, the extension amounts JL1Ai, JL1Bi, XL1Ai, XL1Bi at the time of pressure change, and the extension amounts JL2Ai, JL2Bi, XL2Ai, XL2Bi at the time of pressure stability, where i is the number of times. In order to eliminate the influence of pressure fluctuation, the stroke of the top cylinder is used as an auxiliary variable, and the second inverse of the time is calculated by the slip stroke to obtain the acceleration. When the acceleration changes, the pressure change is recorded as effective. In the above formula, J is the clamp (1), X is the shackle (2), K is the slip, M is the wear amount, L is the extension amount, A represents the left side, B represents the right side, i represents the number of counts, 0 represents stable pressure, 1 represents a sudden change in pressure, and 2 represents stability after the sudden change in pressure.

5. The method for detecting slip wear by using an intelligent clamping shackle for a tunnel drilling rig according to claim 4, characterized in that: The wear amount of the four slips of the clamper slip and the shackle slip is obtained by the formula JKMAi=JL2Ai-JL0, JKMBi=JL2Bi-JL0, XKMAi=XL2Ai-XL0, XKMBi=XL2Bi-XL0, which is used to judge the slip wear life warning and alarm when the wear amount exceeds the specified value.

6. The method for determining slips and drill rod slippage by using an intelligent clamping shackle for a tunnel drilling rig according to claim 1, characterized in that: The vibration sensor can detect the vibration when the clamper slip and the drill rod, and the breaker slip and the drill rod slide, and compare it with the vibration waveform without slipping, and use the pressure fluctuation of the clamping top cylinder and the breaker top cylinder as verification. If both occur at the same time, it is judged as slipping.

7. The intelligent clamping shackle control method for tunnel drilling rigs according to claim 4, characterized in that: First, perform centering initialization: clamp the drill pipe with the rotator, and put the drill pipe into the clamp and the breaker in turn; extend the breaker top cylinder, record the extension amount XL0A0, XL0B0 when the pressure is stable, the extension amount XL1A0, XL1B0 when the pressure changes, and the extension amount XL2A0, XL2B0 when the pressure changes and stabilizes; extend the clamping top cylinder, record the extension amount JL0A0, JL0B0 when the pressure is stable, the extension amount JL1A0, JL1B0 when the pressure changes, and the extension amount JL2A0, JL2B0 when the pressure is stable, calculate the XL0 value through XL0=(XL0A0+XL0B0) / 2, and calculate the JL0 value through JL0=(JL0A0+JL0B0) / 2.

8. The control method of the intelligent clamping shackle for a tunnel drilling rig according to claim 7, characterized in that: After the alignment is initialized, the operation begins, which includes the following steps: Step 1: The rotator rotates to perform drilling operations and collects the maximum torque M of the power head during the drilling process max As a reference value for the shackle torque; Step 2: When drilling, extend the shackle top cylinder at the same time. When the pressure of one side of the cylinder changes significantly for the first time and XL1A<0.95XL0, stop the movement of the opposite side cylinder and continue to extend one side of the cylinder. When the cylinder displacement XL1A=XL0, stop the movement and the opposite side cylinder starts to move to the pressure setting value to complete the drill pipe centering clamping; if XL1A≥0.95XL0, continue to extend the cylinders on both sides to complete the clamping; Step 3: After the rotator reverses and the active drill rod is withdrawn, the new drill rod is placed in the clamp and the clamping cylinder is extended to complete the clamping; after the rotator completes the connection between the active drill rod and the tail buckle of the new drill rod, the clamp is released, and the head of the new drill rod is connected to the tail buckle of the remaining drill rod, the breaker is released, and drilling continues; Step 4: When breaking out, place the two drill pipes between the breakout device and the clamp, extend the breakout top cylinder, when the pressure of one side of the cylinder changes significantly for the first time, and XL1A<0.95XL0, stop the movement of the opposite side cylinder, continue to extend one side of the cylinder, when the cylinder displacement XL1A=XL0, stop the movement, the opposite side cylinder starts to move to the pressure setting value, and the drill pipe is clamped; if XL1A≥0.95XL0, and the cylinders on both sides continue to extend to complete the clamping; then extend the clamping top cylinder to complete the clamping; Step 5: Record the extension amounts of the four oil cylinders JL0Ai, JL0Bi, XL0Ai, XL0Bi when the pressure is stable, the extension amounts JL1Ai, JL1Bi, XL1Ai, XL1Bi when the pressure changes, and the extension amounts JL2Ai, JL2Bi, XL2Ai, XL2Bi when the pressure is stable, calculate the wear amount of the four slips, and alarm when the wear amount exceeds the specified value; Step 6: After clamping, the booster cylinder extends toward the breaker slip, the connecting plate presses the breaker slip, causing the two drill rods to be squeezed, and the breaker cylinder extends to breaker; when the connection between the two drill rods slides relative to each other, the booster cylinder releases pressure and floats, the clamp is opened, and the drill rod moves backward for a distance under the drive of the power head reversal, and then the clamp is closed to clamp the next drill rod; Step 7: The rotator continues to reverse, completing the unbuckling of the active drill rod and the next drill rod, the clamp is released, the drill rod is taken out, and a drill unbuckling cycle is completed; Step 8: When the drill pipe and the slips slip and the buckle cannot be removed, the vibration sensor will collect signals and indicate an abnormality. Re-clamp the screws and increase the top cylinder pressure by 10%, then start again from step 4.

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