Intelligent clamping shackle remover for drift drilling machine and control method

Abstract

The application discloses a kind of intelligent clamping and unhooking device for drift drill and control method, including gripper, unhooking device, connecting base and force adding device;Gripper and unhooking device are fixed to connecting base;Force adding device is the double-rod double-acting force adding cylinder of central through hole and is concentrically installed in front of unhooking device;By detecting the spatial position of slip, adjusting drill rod, the righting of make-up on drill rod is completed;Through force adding device, the torque required for unhooking is effectively reduced.The application can realize the automatic control of the clamping, unhooking process of gripper, can reduce unhooking braking torque, improve the stress condition of clamping and unhooking device, is conducive to the lightweight of clamping and unhooking device, and can early warn the service life of slip in real time.

Description

Technical Field

[0001] This invention belongs to the technical field of coal mine tunnel drilling equipment, and relates to an intelligent clamping and uncoupling device and control method for tunnel drilling rigs. Background Technology

[0002] In recent years, the technology of automatic drill rod loading and unloading for underground coal mine drilling rigs has been promoted to some extent. However, with the gradual increase in drilling rig torque, the size of the clamping and uncoupling device has increased due to the enlargement of the hydraulic cylinder. Furthermore, increasing friction by increasing pressure causes deformation of the clamping device, leading to problems such as drill rod slippage and deformation. Moreover, the clamping and uncoupling device pressure is designed based on the maximum torque of the drilling rig. During use, each clamping operation is performed under maximum pressure, severely impacting drill rod life and construction schedule. Additionally, the low level of automation prevents integration into the overall intelligent drilling rig system. Summary of the Invention

[0003] To address the shortcomings of existing technologies, the present invention aims to provide an intelligent clamping and uncoupling device and control method for tunnel drilling rigs. This solution addresses the problems of low intelligence levels in current clamping and uncoupling devices used in tunnel drilling rigs, which can only achieve simple automated operations, apply maximum pressure for each clamping and uncoupling, and lack protection for drill rod life. This solution can reduce the uncoupling braking torque, improve the stress condition of the clamping and uncoupling device, facilitate the lightweighting of the clamping and uncoupling device, and provide real-time warnings on the service life of the slips.

[0004] To solve the above-mentioned technical problems, the present invention adopts the following technical solution:

[0005] A smart clamping and uncoupling device for tunnel drilling rigs includes a clamp, a uncoupling device, a connecting base, and a force-applying device; the clamp and the uncoupling device are fixed to the connecting base.

[0006] The clamping device includes a clamping top cylinder, clamping slips, 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 a connecting base; the clamping slips are mounted on the front end of the clamping top cylinder rod and are located in the slip groove of the clamping top cylinder seat; a displacement sensor is provided inside the clamping top cylinder to provide feedback on the displacement of the clamping slips and the depth of embedment into the drill pipe through the stroke; a vibration sensor is installed on one side of the clamping top cylinder seat;

[0007] The unhooking device includes an unhooking cylinder, unhooking slips, an unhooking cylinder seat, an unhooking cylinder, and an unhooking mounting base. The unhooking cylinder is mounted on the unhooking cylinder seat, which is located on a connecting base via the unhooking base. The unhooking cylinder can drive the unhooking cylinder seat to rotate concentrically relative to the unhooking base. The unhooking slips are mounted on the front end of the unhooking cylinder rod and can move back and forth within the slip groove of the unhooking cylinder seat. A displacement sensor is installed inside the unhooking cylinder to provide feedback on the displacement of the unhooking slips and the depth of embedment into the drill pipe through the stroke. A vibration sensor is installed on one side of the unhooking cylinder seat.

[0008] The force-applying device is a double-rod double-acting hydraulic cylinder with a central through hole, which is concentrically installed in front of the unhooking device.

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

[0010] Specifically, the force-applying cylinder of the force-applying device has a connecting plate at the cylinder rod end near the uncoupling device; the connecting plate has four waist-shaped grooves and is connected to the uncoupling device slips by bolts, with the bolt heads not tightened, leaving a 3mm gap; the connecting plate can directly press the uncoupling device slips by moving the cylinder rod along the drill rod axis in the direction of the slips; the connecting plate can also drive the uncoupling device slips to move under the action of the bolts by moving the cylinder rod in the opposite direction of the drill rod axis in the direction of the slips; when the uncoupling top cylinder extends or retracts, the bolts on the uncoupling device slips can slide in the waist-shaped grooves of the connecting plate.

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

[0012] Specifically, the displacement sensors inside the clamping and unsnatching cylinders can record the extension amounts JL0Ai, JL0Bi, XL0Ai, and XL0Bi at the pressure stabilization moment of the four cylinders, the extension amounts JL1Ai, JL1Bi, XL1Ai, and XL1Bi at the pressure change moment, and the extension amounts JL2Ai, JL2Bi, XL2Ai, and XL2Bi at the pressure stabilization moment, where i represents the count. To eliminate the influence of pressure fluctuations, the stroke of the clamping cylinder is used as an auxiliary variable, and the acceleration is obtained by taking the second reciprocal of the slip stroke with respect to time. When the acceleration changes, the pressure change is recorded as valid. In the above formula, J represents the clamp, X represents the unsnatcher, K represents the slip, M represents the wear amount, L represents the extension amount, A represents the left side, B represents the right side, i represents the count, 0 represents the pressure stabilization, 1 represents the pressure sudden change, and 2 represents the stabilization after the pressure sudden change.

[0013] Specifically, the wear amount of the four jaws of the clamping device jaws and the release device jaws is obtained by using the formulas JKMAi=JL2Ai-JL0, JKMBi=JL2Bi-JL0, XKMAi=XL2Ai-XL0, XKMBi=XL2Bi-XL0. This is used to determine the wear life of the jaws and provide early warning. An alarm is triggered when the wear amount exceeds the specified value.

[0014] Specifically, the vibration sensor can detect the vibration when the slipper slides against the drill pipe, compare it with the vibration waveform when there is no slippage, and use the pressure fluctuation of the top cylinder as a verification. If both occur simultaneously, it is judged as slippage.

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

[0016] Specifically, after initialization, the operation begins, including the following steps:

[0017] Step 1: The rotary head rotates to perform drilling operations, and the maximum torque M of the power head during the drilling process is recorded. max Used as a reference value for the unhooking torque;

[0018] Step 2: During drilling, simultaneously extend the shackle-aligning cylinder. When the pressure of one cylinder changes significantly for the first time, and XL1A < 0.95XL0, stop the movement of the opposite cylinder and continue extending one cylinder. When the cylinder displacement XL1A = XL0, stop the movement, and the opposite cylinder begins to move to the pressure set value, completing the drill pipe alignment and clamping. If XL1A ≥ 0.95XL0, continue extending both cylinders to complete the clamping.

[0019] Step 3: The rotary head reverses and removes the active drill rod. The new drill rod is then placed into the clamp, and the clamping cylinder extends to complete the clamping. After the rotary head completes the connection between the active drill rod and the tail of the new drill rod, the clamp is released. The new drill rod head is then connected to the tail of the remaining drill rod. The uncoupling device is released, and drilling continues.

[0020] Step 4: During uncoupling, place the two drill pipes between the uncoupling device and the clamping device, extend the uncoupling counter-clamping cylinder, and when the pressure of one cylinder changes significantly for the first time, and XL1A < 0.95XL0, stop the movement of the opposite cylinder, continue extending one cylinder, and stop the movement when the cylinder displacement XL1A = XL0. The opposite cylinder then begins to move to the pressure set value, completing the drill pipe centering and clamping; if XL1A ≥ 0.95XL0, continue extending both cylinders to complete the clamping; then extend the clamping counter-clamping cylinder to complete the clamping.

[0021] Step 5: Record the extension amounts of the four cylinders at the pressure stabilization time: JL0Ai, JL0Bi, XL0Ai, XL0Bi; the extension amounts at the pressure change time: JL1Ai, JL1Bi, XL1Ai, XL1Bi; and the extension amounts at the pressure stabilization time: JL2Ai, JL2Bi, XL2Ai, XL2Bi. Calculate the wear amount of the four slips. An alarm will be triggered when the wear amount exceeds the specified value.

[0022] Step Six: After clamping, the force-applying cylinder extends towards the release valve slip, and the connecting plate presses the release valve slip, causing the two drill pipes to be squeezed. The release cylinder extends to release the slip. When the connection between the two drill pipes slides relative to each other, the force-applying cylinder releases pressure and floats, opening the clamp. The drill pipe moves backward a certain distance under the reverse drive of the power head, and then the clamp closes, clamping the next drill pipe.

[0023] Step 7: The rotary head continues to reverse, completing the uncoupling between the active drill pipe and the next drill pipe. The clamp is released, the drill pipe is removed, and one uncoupling cycle is completed.

[0024] Step 8: When the drill pipe slips between the drill pipe and the slip and cannot be untangled, the vibration sensor will collect a signal and indicate an abnormality. The clamping operation will be restarted, and the pressure of the top cylinder will be increased by 10%. Start from step 4 again.

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

[0026] This invention can adjust the drill rod by detecting the spatial position of the slips, thereby completing the alignment of the drill rod.

[0027] This invention effectively reduces the torque required for shackle removal by using a force-applying device.

[0028] This invention enables automated control of the clamping and unclamping process of the gripper.

[0029] This invention can provide early warning of slip wear and prompt timely replacement of the slip. Attached Figure Description

[0030] Figure 1 This is a schematic diagram of the intelligent clamping and unhooking device for tunnel drilling rigs.

[0031] Figure 2 Side view of a smart clamping uncoupling device for tunnel drilling rigs.

[0032] Figure 3 Top view of an intelligent clamping and uncoupling device for tunnel drilling rigs.

[0033] Figure 4 This is a cross-sectional view of an intelligent clamping and uncoupling device for tunnel drilling rigs.

[0034] Figure 5 This is a logic diagram of the wear detection and control method for slips.

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

[0036] The meanings of the labels in the diagram are as follows:

[0037] 1. Clamping device; 2. Unlatcher; 3. Connecting base; 4. Force application device; 101. Clamping top cylinder; 102. Vibration sensor I; 103. Clamping slip; 104. Displacement sensor I; 105. Clamping top cylinder seat; 201. Unlatching top cylinder; 202. Unlatcher slip; 203. Displacement sensor II; 204. Unlatching cylinder; 205. Vibration sensor II; 206. Unlatching top cylinder seat; 207. Unlatcher mounting base. Detailed Implementation

[0038] The following are specific embodiments of the present invention. It should be noted that the present invention is not limited to the following specific embodiments. All equivalent modifications made based on the technical solutions of this application fall within the protection scope of the present invention.

[0039] Example 1:

[0040] For example Figures 1 to 4 As shown, this embodiment provides an intelligent clamping and unhooking device for tunnel drilling rigs, including a clamp 1, an unhooking device 2, a connecting base 3, and a force-applying device 4; the clamp 1 and the unhooking device 2 are fixed to the connecting base 3 by bolts.

[0041] The clamp 1 includes 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 bolted to 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 provide feedback on the displacement of the clamping slip 103 and the depth of embedment into the drill pipe through the stroke. A vibration sensor is installed on one side of the clamping top cylinder seat 105.

[0042] The unhooking device 2 includes an unhooking cylinder 201, unhooking slips 202, an unhooking cylinder seat 206, an unhooking cylinder 204, and an unhooking mounting base 207. The unhooking cylinder 201 is mounted on the unhooking cylinder seat 206, which is connected to the connecting base 3 via the unhooking mounting base 207. The unhooking cylinder 204 can drive the unhooking cylinder seat 206 to rotate concentrically relative to the unhooking mounting base 207. Specifically, the bottom of the unhooking cylinder 204 is mounted 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 mounting base and the rotation center is coaxial with the drill pipe; the shackle slip 202 is bolted to the front end of the cylinder rod of the shackle top cylinder 201 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 provide feedback on the displacement of the shackle slip 202 and the depth of embedment into the drill pipe through the stroke; a vibration sensor is installed on one side of the shackle top cylinder seat 206.

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

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

[0045] The force-applying cylinder of the force-applying device 4 has a connecting plate at the cylinder rod end near the unlatcher 2. The connecting plate has four waist-shaped grooves and is connected to the unlatcher slip 202 by bolts, with the bolt heads not tightened and leaving a 3mm gap. The connecting plate can directly press the unlatcher slip 202 by moving the cylinder rod along the drill rod axis in the direction of the clamping slip 103. The connecting plate can also drive the unlatcher slip 202 to move under the action of the bolts by moving the cylinder rod in the opposite direction of the clamping slip 103 along the drill rod axis. When the unlatching top cylinder 201 extends or retracts, the bolts on the unlatcher slip 202 can slide in the waist-shaped grooves of the connecting plate.

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

[0047] The clamping top cylinder 101 and the unhooking top cylinder 201 are used to monitor the maximum input torque of the power head during drilling. The pressure of the top cylinder is calculated using a built-in algorithm, and the cylinder pressure is controlled by a pressure reducing valve to complete the clamping of the drill rod.

[0048] The internal displacement sensors of the clamping top cylinder 101 and the unslip top cylinder 201 can record the extension amounts JL0Ai, JL0Bi, XL0Ai, and XL0Bi at the pressure stabilization moment of the four cylinders, the extension amounts JL1Ai, JL1Bi, XL1Ai, and XL1Bi at the pressure change moment, and the extension amounts JL2Ai, JL2Bi, XL2Ai, and XL2Bi at the pressure stabilization moment, where i represents the count. To eliminate the influence of pressure fluctuations, the stroke of the top cylinder is used as an auxiliary variable, and the acceleration is obtained by taking the second reciprocal of the slip stroke with respect to time. When the acceleration changes, the pressure change is recorded as valid. In the above formula, J represents clamp 1, X represents unslip 2, K represents slip, M represents wear amount, L represents extension amount, A represents left side, B represents right side, i represents the count, 0 represents pressure stabilization, 1 represents pressure sudden change, and 2 represents stabilization after pressure sudden change.

[0049] Method for detecting slip wear using intelligent clamping and uncoupling devices on tunnel drilling rigs: Through formula

[0050] JKMAi=JL2Ai-JL0,JKMBi=JL2Bi-JL0,XKMAi=XL2Ai-XL0,XKMBi=XL2Bi-XL0 are used to obtain the wear amount of the four clamps of the clamp 103 and the releaser 202. This is used to determine the wear life of the clamps and provide an early warning. An alarm is triggered when the wear amount exceeds the specified value.

[0051] The method for judging slippage between the slip and the drill rod using the intelligent clamping and uncoupling device of the tunnel drilling rig is as follows: The vibration sensor can detect the vibration when the slip and the drill rod slip, compare it with the vibration waveform when there is no slippage, and use the pressure fluctuation of the top cylinder as a verification. If both occur at the same time, it is judged as slippage.

[0052] In other embodiments, the slip teeth can have different shapes to ensure the uncoupling braking torque while reducing the amount of slip embedding into the drill pipe. Position detection can be implemented in different ways; various sensors such as displacement sensors and wire sensors can detect the position. Reducing the preload at the drill pipe joint can be achieved in different ways: a hydraulic cylinder can be used to press the uncoupling slips and the clamping slips together, or a rotary head can be used to directly press the rear end of the drill pipe. Different sensors are used to determine whether there is slippage between the slips and the drill pipe, thereby determining whether uncoupling is necessary.

[0053] Example 2:

[0054] This embodiment provides a control method for an intelligent clamping and unhooking device used in tunnel drilling rigs, such as... Figure 5 and Figure 6First, perform centering initialization: the rotary head clamps the drill pipe, and the drill pipe enters the chuck and uncoupling device in sequence; extend the uncoupling top cylinder and record the extension amounts XL0A0 and XL0B0 when the pressure is stable, XL1A0 and XL1B0 when the pressure changes, and XL2A0 and XL2B0 when the pressure changes and stabilizes; extend the clamping top cylinder and record the extension amounts JL0A0 and JL0B0 when the pressure is stable, JL1A0 and JL1B0 when the pressure changes, and JL2A0 and JL2B0 when the pressure is stable. Calculate the XL0 value using XL0 = (XL0A0 + XL0B0) / 2 and the JL0 value using JL0 = (JL0A0 + JL0B0) / 2.

[0055] After initialization, the operation begins, including the following steps:

[0056] Step 1: The rotary head rotates to perform drilling operations, and the maximum torque M of the power head during the drilling process is recorded. max Used as a reference value for the unhooking torque;

[0057] Step 2: During drilling, simultaneously extend the shackle-aligning cylinder. When the pressure of one cylinder (let's say 201A) changes significantly for the first time, and XL1A < 0.95XL0, stop the movement of the opposite cylinder 201B, and continue extending one cylinder 201A. When the cylinder displacement XL1A = XL0, stop the movement, and the opposite cylinder 201B begins to move to the pressure set value, completing the drill pipe alignment and clamping. If XL1A ≥ 0.95XL0, continue extending both cylinders to complete the clamping.

[0058] Step 3: The rotary head reverses and after the active drill pipe is removed, the new drill pipe is placed into the clamp, and the clamping cylinder extends to complete the clamping. After the rotary head completes the connection between the active drill pipe and the new drill pipe tail, the clamp is released, and the connection between the new drill pipe head and the drill pipe tail is completed. The uncoupling device is released, and drilling continues.

[0059] Step 4: During uncoupling, place the two drill pipes between the uncoupling device and the clamping device, extend the uncoupling top cylinder, and when the pressure of one side cylinder (let's say 201A) changes significantly for the first time, and XL1A < 0.95XL0, stop the movement of the opposite side cylinder 201B, and continue extending 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 set value, completing the drill pipe centering and clamping; if XL1A ≥ 0.95XL0, and both sides continue to extend to complete the clamping; then extend the clamping top cylinder to complete the clamping.

[0060] Step 5: Record the extension amounts of the four cylinders at the pressure stabilization time: JL0Ai, JL0Bi, XL0Ai, XL0Bi; the extension amounts at the pressure change time: JL1Ai, JL1Bi, XL1Ai, XL1Bi; and the extension amounts at the pressure stabilization time: JL2Ai, JL2Bi, XL2Ai, XL2Bi. Calculate the wear amount of the four slips. An alarm will be triggered when the wear amount exceeds the specified value.

[0061] Step Six: After clamping, the force-applying cylinder extends towards the release valve slip, and the connecting plate presses the release valve slip, causing the two drill pipes to be squeezed. The release cylinder extends to release the slip. When the connection between the two drill pipes slides relative to each other, the force-applying cylinder releases pressure and floats, opening the clamp. The drill pipe moves backward a certain distance under the reverse drive of the power head, and then the clamp closes, clamping the next drill pipe.

[0062] Step 7: The rotary head continues to reverse, completing the uncoupling between the active drill pipe and the next drill pipe. The clamp is released, the drill pipe is removed, and one uncoupling cycle is completed.

[0063] Step 8: When the drill pipe slips between the drill pipe and the slip and cannot be untangled, the vibration sensor will collect a signal and indicate an abnormality. The clamping operation will be restarted, and the pressure of the top cylinder will be increased by 10%. Start from step 4 again.

[0064] The preferred embodiments of the present invention have been described in detail above with reference to the accompanying drawings. However, the present invention is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present invention, various simple modifications can be made to the technical solution of the present invention, and these simple modifications all fall within the protection scope of the present invention.

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

[0066] Furthermore, various different embodiments of the present invention can be combined in any way, as long as they do not violate the spirit of the present invention, they should also be regarded as the content disclosed by the present invention.

Claims

1. An intelligent clamping and uncoupling device for tunnel drilling rigs, characterized in that, Includes a clamp (1), a release device (2), a connecting base (3), and a force-applying device (4); the clamp (1) and the release device (2) are fixed to the connecting base (3); The clamp (1) includes a clamping top cylinder (101), a clamping slip (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 slip (103) is installed at 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 provide feedback on the displacement of the clamping slip (103) and the depth of embedding into the drill pipe through the stroke; a vibration sensor is installed on one side of the clamping top cylinder seat (105); The unscrewer (2) includes an unscrewing cylinder (201), an unscrewer slip (202), an unscrewing cylinder seat (206), an unscrewer cylinder (204), and an unscrewer mounting base (207). The unscrewing cylinder (201) is mounted on the unscrewing cylinder seat (206), which is located on the connecting base (3) via the unscrewer mounting base (207). The unscrewer cylinder (204) can push the unscrewing cylinder. The seat (206) rotates concentrically relative to the uncoupling mounting seat (207); the uncoupling slip (202) is installed at the front end of the cylinder rod of the uncoupling top cylinder (201) and can move back and forth in the slip groove of the uncoupling top cylinder seat (206); a displacement sensor is provided in the uncoupling top cylinder (201) to provide feedback on the displacement of the uncoupling slip (202) and the depth of embedding into the drill pipe through the stroke; a vibration sensor is installed on one side of the uncoupling top cylinder seat (206); The force-applying device (4) is a double-rod double-acting force-applying cylinder with a central through hole, which is concentrically installed in front of the unhooker (2); The force-adding device (4) has a connecting plate at the cylinder rod end near the unlatcher (2); the connecting plate has 4 waist-shaped grooves and is connected to the unlatcher slip (202) by bolts, and the bolt heads are not tightened, leaving a 3mm gap; the connecting plate can directly press the unlatcher slip (202) by moving the cylinder rod along the drill rod axial direction of the clamping slip (103); the connecting plate can drive the unlatcher slip (202) to move under the action of the bolt by moving the cylinder rod along the drill rod axial direction of the clamping slip (103); when the unlatching top cylinder (201) extends or retracts, the bolt on the unlatcher slip (202) can slide in the waist-shaped groove of the connecting plate.

2. The intelligent clamping and uncoupling device for tunnel drilling rigs as described in claim 1, characterized in that, The pressure value of the booster cylinder is P=M max / 0.6dS, where M max The reference value for the uncoupling torque is given, where d represents the drill pipe thread diameter, S represents the rod cavity area of ​​the hydraulic cylinder, and P≦12MPa.

3. The intelligent clamping and uncoupling device for tunnel drilling rigs as described in claim 2, characterized in that, The displacement sensors inside the clamping top cylinder (101) and the unsnatching top cylinder (201) can record the extension amounts JL0Ai, JL0Bi, XL0Ai, and XL0Bi at the pressure stabilization moment of the four cylinders, the extension amounts JL1Ai, JL1Bi, XL1Ai, and XL1Bi at the pressure change moment, and the extension amounts JL2Ai, JL2Bi, XL2Ai, and XL2Bi at the pressure stabilization moment, where i represents the number of times. To eliminate the influence of pressure fluctuations, the stroke of the top cylinder is used as an auxiliary variable, and the second reciprocal of the slip stroke with respect to time is used to obtain the acceleration. When the acceleration changes, the pressure change is recorded as valid. In the above formula, J is the clamp (1), X is the unsnatcher (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 the pressure stabilization, 1 represents the pressure sudden change, and 2 represents the stabilization after the pressure sudden change.

4. The method for detecting slip wear using the intelligent clamping and uncoupling device for tunnel drilling rigs as described in claim 3, characterized in that, The wear amount of the four jaws of the clamping device jaws and the release device jaws is obtained by using the formulas JKMAi=JL2Ai-JL0, JKMBi=JL2Bi-JL0, XKMAi=XL2Ai-XL0, XKMBi=XL2Bi-XL0. This is used to determine the wear life of the jaws and provide early warning. An alarm is triggered when the wear amount exceeds the specified value.

5. The method for judging slippage between slips and drill rod using the intelligent clamping and uncoupling device for tunnel drilling rigs as described in claim 1, characterized in that, The vibration sensor can detect the vibration when the clamping slip and the drill pipe, or the unslipper slip and the drill pipe slide, and compare it with the vibration waveform when there is no slippage. The pressure fluctuation of the clamping top cylinder and the unslipper top cylinder is used as the verification. If both occur at the same time, it is judged as slippage.

6. The intelligent clamping and uncoupling device control method for tunnel drilling rigs as described in claim 3, characterized in that, First, perform centering initialization: the rotary head clamps the drill pipe, and the drill pipe enters the chuck and uncoupling device in sequence; extend the uncoupling top cylinder and record the extension amounts XL0A0 and XL0B0 when the pressure is stable, XL1A0 and XL1B0 when the pressure changes, and XL2A0 and XL2B0 when the pressure changes and stabilizes; extend the clamping top cylinder and record the extension amounts JL0A0 and JL0B0 when the pressure is stable, JL1A0 and JL1B0 when the pressure changes, and JL2A0 and JL2B0 when the pressure is stable. Calculate the XL0 value using XL0=(XL0A0+XL0B0) / 2 and the JL0 value using JL0=(JL0A0+JL0B0) / 2.

7. The intelligent clamping and uncoupling device control method for tunnel drilling rigs as described in claim 6, characterized in that, After initialization, the operation begins, including the following steps: Step 1: The rotary head rotates to perform drilling operations, and the maximum torque M of the power head during the drilling process is recorded. max Used as a reference value for the unhooking torque; Step 2: During drilling, simultaneously extend the shackle-aligning cylinder. When the pressure of one cylinder changes significantly for the first time, and XL1A < 0.95XL0, stop the movement of the opposite cylinder and continue extending one cylinder. When the cylinder displacement XL1A = XL0, stop the movement, and the opposite cylinder begins to move to the pressure set value, completing the drill pipe alignment and clamping. If XL1A ≥ 0.95XL0, continue extending both cylinders to complete the clamping. Step 3: The rotary head reverses and removes the active drill rod. The new drill rod is then placed into the clamp, and the clamping cylinder extends to complete the clamping. After the rotary head completes the connection between the active drill rod and the tail of the new drill rod, the clamp is released. The new drill rod head is then connected to the tail of the remaining drill rod. The uncoupling device is released, and drilling continues. Step 4: During uncoupling, place the two drill pipes between the uncoupling device and the clamping device, extend the uncoupling counter-clamping cylinder, and when the pressure of one cylinder changes significantly for the first time, and XL1A < 0.95XL0, stop the movement of the opposite cylinder, continue extending one cylinder, and stop the movement when the cylinder displacement XL1A = XL0. The opposite cylinder then begins to move to the pressure set value, completing the drill pipe centering and clamping; if XL1A ≥ 0.95XL0, continue extending both cylinders to complete the clamping; then extend the clamping counter-clamping cylinder to complete the clamping. Step 5: Record the extension amounts of the four cylinders at the pressure stabilization time: JL0Ai, JL0Bi, XL0Ai, XL0Bi; the extension amounts at the pressure change time: JL1Ai, JL1Bi, XL1Ai, XL1Bi; and the extension amounts at the pressure stabilization time: JL2Ai, JL2Bi, XL2Ai, XL2Bi. Calculate the wear amount of the four slips. An alarm will be triggered when the wear amount exceeds the specified value. The wear amount of the four jaws of the clamping device jaws and the release device jaws is obtained by using the formulas JKMAi=JL2Ai-JL0, JKMBi=JL2Bi-JL0, XKMAi=XL2Ai-XL0, XKMBi=XL2Bi-XL0. This is used to determine the wear life of the jaws and to issue an alarm when the wear amount exceeds the specified value. Step Six: After clamping, the force-applying cylinder extends towards the release valve slip, and the connecting plate presses the release valve slip, causing the two drill pipes to be squeezed. The release cylinder extends to release the slip. When the connection between the two drill pipes slides relative to each other, the force-applying cylinder releases pressure and floats, opening the clamp. The drill pipe moves backward a certain distance under the reverse drive of the power head, and then the clamp closes, clamping the last drill pipe. Step 7: The rotary head continues to reverse, completing the uncoupling between the active drill pipe and the next drill pipe. The clamp is released, the drill pipe is removed, and one uncoupling cycle is completed. Step 8: When the drill pipe slips between the drill pipe and the slip and cannot be untangled, the vibration sensor will collect a signal and indicate an abnormality. The clamping operation will be restarted, and the pressure of the top cylinder will be increased by 10%. Start from step 4 again. The vibration sensor can detect the vibration when the clamping slip and the drill pipe, or the unslipper slip and the drill pipe slide, and compare it with the vibration waveform when there is no slippage. The pressure fluctuation of the clamping top cylinder and the unslipper top cylinder is used as the verification. If both occur at the same time, it is judged as slippage.

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