With the increasing depth of exploration,the size of drilling equipment becomes larger and larger, and the labor intensity of operators also increases. Based on this case, the 3500 hydraulic drilling rig requires a shift pendulum tube device to reduce labor intensity as well as to transport drill fast and safely. In this paper, the racking pipe device has been designed with a determination of the parameters and the mode of the moving parts to guarantee the racking pipe device move smoothly and operate safely and reliably. Meanwhile, ADAMS dynamics simulation software has been used to conduct motion simulation for the device to identify deficiencies in the design, and to give optimization recommendations.