The design of four degrees of freedom pneumatic conveyance manipulator based on PLC is introduced in the paper. The work task of the manipulator was briefly introduced. The structural design, work cycle, pneumatic control circuit design and PLC control system design are introduced in detail. The manipulator has the advantages of simple in design, stable and reliable act,research and development in low-cost. The design is to provide a reference for other design of economic type manipulators.