According to the construction requirements of continental scientific drilling，the drill pipe automatic transport system was designed which had the advantages of novel mechanism, stable and reliable action and convenient control,able to replace manpower to complete the action of migration in the process of drilling pipe so as to achieve automatic migration of drilling tools. The structure components, working principle and action process of the system were introduced. The system model was built by Inventor software. On this basis, ADAMS simulation software was used to establish the simulation model for the kinematics simulation, getting the change curves of the contact force between automatic transport system for drill pipe and drill pipe and drill pipe migration system structure stress. The stability of the system was verified. It provides theoretical basis for the optimization of the system practical action and control.