Hi,
the TIP142 is an NPN-darlington transistor and you used the wrong symbol for it.
The transistor to be used should be a PNP-darlington transistor, such as the TIP145 (TIP146 and TIP147)
I doubt that the base current will be high enough to saturate a PNP darlington. It can stand a collector current of 10A!
Why not use a P-channel MosFet like the BS250 to drive your relay? The gate voltage has to be low in order to make it switch and uses almost no current.
Boncuk