| Automatic rod handling system is an important part of approaching drilling rig automation, it has a great significance for improving work efficiency and reducing labor intensity. Abroad research on this field has already been prone to ripe, domestic still has relatively few studies and appliance on it. This paper kept automatic rod handling system of DR150 rig as its goal, designed a matching pipe handling system follow actual loading rods process.This paper was to study the overall scheme, mechanism design and drive system of pipe handling system. Completed major work in the following areas:First, the paper expounded the development of pipe handling system and analysed this paper's research content and research sense. Secondly, On the basis of research achievement, established the overall design of pipe handling system through comparison and demonstration. Detailed design was made about gripper, wrist and arm of the pipe handling system on the basis of whole design. This paper selected hydraulic drive as system driving mode, and then designed the mechanism hydraulic system and selected hydraulic component. Then, the kinematics and dynamics of pipe handling system were analysed with robotics theory and the kinematics equation and dynamics equation were obtained. Finally, pipe handling system was modeled and motion simulation was carried out by using the mechanism of 3D Pro/Engineer software, mechanism displacement, velocity and acceleration curves were plotted and analysed through observing the relative movement between the whole structure and parts as well as measuring the variations of subject position, speed and acceleration.The paper aimed for handling operation automation, mounted the manipulator as an independent auxiliary equipment at the drilling rig and applied the manipulator effectively at the geological drilling. The significance of studying was to reduce labor intensity, improve productivity and reliability, it also positively propels our drilling rig automatic level.
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