Manual centering and placing drill pipes are the main methods of traditional way to load and unload drill pipes, which is inefficient with high labor intensity. To improve this unfavorable situation, BG mechanical pipe handler is developed to match with hydraulic rigs with tilting power head, it can accomplish loading/unloading and placing drill pipes mechanically by coordinating the manipulator and the clamping holder with tilting power head. This paper introduces in detail the structural design of the manipulator and rotary driving selection, the structural design of the clamping holder and clamping cylinder selection and the design idea of hydraulic system, in order to determine the reliability of this equipment in theory. The practicability of BG mechanical pipe handler is proved by field test.