Abstract: In order to design a set of simple manipulator that can realize semi-automatic drill pipe feeding through pure hydraulic control, based on the action flow of manual drill pipe feeding, the logic relationship of simplified drill pipe feeding action was analyzed. The structure model of the manipulator was established through the 3D design software, the relevant kinematic mechanical principle structure was analyzed, the structure design and parameter optimization calculation were carried out for the key mechanism. The strength check and finite element analysis were carried out for the key stressed parts, and the kinematics simulation was carried out for the model. Finally, the semi-automatic drill pipe feeding device was trial manufactured and tested. The test results show that there is no jamming phenomenon in the motion mechanism and hydraulic system when the device is working on the drill pipe.