Abstract: Automatic pipe handling system is mainly used in offshore drilling, but is rarely used in onshore drilling. For onshore drilling, in order to reduce the tripping time and labor intensity, and to increase the safety and efficiency, the automatic control pipe handling system for the onshore drilling was designed, by which drillers could be convenient to automatically control the three coordinates pipe handling equipment. It has a simple structure and is mainly suitable for the “A” type and “K” type (or “Π” type) drill derrick for onshore drilling rig. The system consists of four parts: the main tong and parallel moving track system, the assisting tong and parallel moving track system, the vertical(Z coordinate direction) moving track system and the control system with IPC (industrial personal computer) and PCL-839 card. It is mounted to drilling derrick between drilling floor and the racking board. It is currently one of the most advanced automatic pipe handling system, by which all the operation can be run during making a pipe connection or tripping, such as grasping pipe, picking up pipe, laying down pipe, parallel moving drilling stand to suitable position. The system can realize automatic numerical control without driller’s help.