A design method for a complex all-pneumatic sequential action circuit

Abstract

The present invention discloses a design method for a complex all-pneumatic sequential action circuit, comprising the following steps: (1) clarifying system requirements and listing sequential action stroke program formulas; (2) grading cascade conversion gas circuits; (3) configuring stepper modules and analyzing their control signals; (4) configuring main control valves and stroke valves; (5) designing emergency event processing circuits; (6) designing operation mode switching circuits; (7) designing pneumatic circuit schematics. The design method uses stepper modules to replace memory elements to sequentially supply air to each level of cascade conversion gas circuits, and classifies all actions. Each type of action has its fixed control signal supply circuit. The design process has clear ideas, clear levels, and high accuracy.

Description

Technical Field

[0001] The invention relates to pneumatic control, more specifically to a design method for a complex full pneumatic sequential action circuit. Background Art

[0002] Due to the advantages of pneumatic system such as no pollution, low cost, high reliability and long life, it is widely used in the fields of machinery, automatic control, etc. Especially in special occasions such as high temperature, flammable, explosive, radiation, etc., full pneumatic control completely replaces other control methods, so the research on full pneumatic circuit design method is very important.

[0003] The full pneumatic control of sequential actions is a control method widely used in robots and automated production lines. The traditional design process is: first analyze the actual problem and list the travel program formula; then check the travel program formula. If it is a standard program, directly use the XD map method or Karnaugh map method for design. If it is a non-standard program, it is necessary to find the obstacle signal and troubleshoot the non-standard program to correct it into a standard program and then use the above method for design; finally, according to the obtained execution signal logic expression of each action, draw the pneumatic logic schematic diagram and the pneumatic control circuit schematic diagram. The biggest problem encountered by this XD map and Karnaugh map design method is the elimination of obstacle signals. The elimination process is very complicated and requires the designer to master the knowledge of logical algebra. In order to simplify the design process of full pneumatic control of this sequential action, many scientific researchers have carried out a lot of research work on this.

[0004] In the prior art, the design methods for a fully pneumatic sequential action circuit that is simple and easy to implement and does not require elimination of obstacle signals include a ring method, a cascade method, a stepping module method, and a fully pneumatic design method based on a ladder diagram.

[0005] The proponents of the ring method pointed out that the ring should be divided into four zones at most and three memory elements should be added, otherwise the pneumatic circuit would be too complicated.

[0006] The cascade method requires determining the number of cascade conversion gas circuits. The fewer the number, the simpler the design; the larger the number, the more complicated the design will be.

[0007] In the stepper module method design, one stepper module controls one action, and the circuit becomes more complicated when there are too many actions.

[0008] The full pneumatic design method based on the ladder diagram abstracts the pneumatic components into symbols similar to those of the electrical system and introduces the concept of the ladder diagram, which requires the designer to have rich experience in electrical system design.

[0009] Through extensive research on existing technologies, it is found that there is currently no simple and easy technology for systematically analyzing the design method of complex full-pneumatic circuits with multiple actuators and multiple repetitive actions without eliminating obstacle signals. Most of the existing technologies are only designed for simple sequential action circuits. Summary of the invention

[0010] The technical problem to be solved by the present invention is to provide a design method for a complex all-pneumatic sequential action circuit. The design method uses a stepping module to replace the memory element to supply air to each level of cascade conversion air circuit in sequence, and classifies all actions. Each type of action has its own fixed control signal supply circuit. The design process has clear ideas, distinct levels and high accuracy.

[0011] In order to solve the above technical problems, the present invention adopts the following technical means:

[0012] A design method for a complex all-pneumatic sequential action circuit includes the following steps:

[0013] (1) Clarify the system requirements and list the sequential action program;

[0014] (2) Cascade conversion gas path classification;

[0015] (3) Configure the stepper module and analyze its control signal;

[0016] (4) Configure the main control valve and travel valve;

[0017] (5) Design emergency event handling loop;

[0018] (6) Design the operation mode switching circuit;

[0019] (7) Design the pneumatic circuit schematic.

[0020] Compared with the prior art, the present invention adopting the above technical solution has the following outstanding features:

[0021] This design method uses stepping modules instead of memory elements to supply air to each level of cascade conversion air circuit in sequence, and classifies all actions. Each type of action has its own fixed control signal supply circuit. The design process has clear ideas, distinct levels and high accuracy.

[0022] Further preferred technical solutions are as follows:

[0023] The step (2) of cascade conversion gas path classification is carried out according to the principle that the English letter codes of the actuators in the sequential action stroke program do not appear repeatedly and the fewer the number of classifications, the better, and the first and last levels are checked to see whether they need to be merged.

[0024] The step (3) configures the stepper module and analyzes its control signal. The stepper module configuration method is to configure several stepper modules according to the number of stages of the cascade conversion gas circuit, analyze the trigger signal and drive signal of each stepper module, and list the stepper module control signal table.

[0025] The step (4) configures the main control valve and the stroke valve. The number of main control valves is equal to the number of actuators in the sequential action stroke program. Shuttle valves are configured at the main control valves for repeated execution of the action. The number of shuttle valves is increased after the execution is repeated several times. The sequential action stroke program is analyzed to obtain all the required stroke valves and divide them into two parts, one part of the stroke valves provides a control signal for the stepping module, and the other part of the stroke valves provides a control signal for the main control valve.

[0026] The step (5) designs an emergency event handling circuit, including setting an emergency stop button and a reset button of the full pneumatic sequential action circuit. By pressing the emergency stop button, the system can pause at any time to handle an emergency event, and press the reset button to restart after the emergency event is handled.

[0027] The step (6) designs the operation mode switching circuit to set a switching circuit for setting two operation modes: automatic continuous operation and manual single-step operation, so as to realize the switching between the two operation modes: automatic continuous operation and manual single-step operation.

[0028] The step (7) designs a pneumatic circuit schematic diagram, classifies all actions in the sequential action stroke program, and designs a control signal air supply circuit for each type of action. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 Schematic diagram of the actions of each executive component of the production line.

[0030] Figure 2 A diagram of the action process included in a working cycle.

[0031] Figure 3 Workflow process program.

[0032] Figure 4 Cascade conversion gas path classification diagram.

[0033] Figure 5 Schematic diagram of the stepper module structure.

[0034] Figure 6 Diagram of shuttle valve configuration for repeated action.

[0035] Figure 7 Emergency event handling loop.

[0036] Figure 8 Operation mode switching circuit.

[0037] Fig. 9A type of action control signal air supply circuit, wherein (1) indicates that the control signal is supplied through a shuttle valve; and (2) indicates that the control signal is supplied directly.

[0038] Fig.10 Type II action control signal air supply circuit.

[0039] Fig.11 Three types of action control signal air supply circuits, among which (1) represents the air supply circuit when a certain signal controls only one repetitive action and the stroke valve is located above the air supply pipeline; (2) represents the air supply circuit when a certain signal controls only one repetitive action and the stroke valve is located below the air supply pipeline or a certain signal controls multiple repetitive actions.

[0040] Fig.12 Four types of action control signal air supply circuits.

[0041] Fig.13 Schematic diagram of the pneumatic circuit of the production line control system. DETAILED DESCRIPTION

[0042] See also Figure 1-Figure 13 It can be seen that the design method of a complex full-pneumatic sequential action circuit of the present invention, the said design method is a full-pneumatic control system designed for a double-sided drilling automatic drilling machine production line, including a cylinder, an air claw, a stepping module that sequentially supplies air to each level of cascade conversion air circuit, a main reversing valve, a shuttle valve, a dual-pressure valve and a stroke valve. The action components provided in the full-pneumatic control system of the double-sided drilling automatic drilling machine production line include an arm telescopic cylinder A, a base lifting cylinder B, a gripper unclamping cylinder C, a rotary cylinder D, a drilling cylinder E, a wrist flip cylinder F and a conveyor belt drive motor G. During the operation of the production line, the action diagram of each actuator is as shown in the figure. Figure 1 As shown, the entire process of completing a machining operation is as follows: the arm extends, the base descends, the workpiece is clamped, the base rises, the arm retracts, the base descends, the arm rotates clockwise, the arm extends, the drilling cylinder descends to drill, the drill retracts, the arm retracts, the wrist flips, the arm extends, the drilling cylinder descends to drill, the drill retracts, the arm retracts, the wrist resets, the arm reverses, the base rises, the arm extends, the base descends, the gripper releases, the base rises, the conveyor belt runs while the arm retracts, and the conveyor belt stops when the next blank is in place. The action process included in completing a work cycle is as follows Figure 2 As shown, there are 25 action steps in total. There are two action steps (24) in the figure, which means that these two actions are parallel, so there are 26 specific actions in total.

[0043] The design method of a complex all-pneumatic sequential action circuit of the present invention takes a double-sided drilling automatic drilling machine production line as a preferred embodiment, and the design process includes the following steps:

[0044] (1) Clearly define system requirements and list the sequential action program

[0045] Depend on Figure 2 The action process diagram of a work cycle of the double-sided drilling automatic drilling machine production line can list the workflow sequence action program, such as Figure 3 As shown. For direct-acting cylinders, the subscript numbers 0 and 1 of the letters represent the cylinder piston rod retracting and the piston rod extending respectively. For swing cylinders, the subscript numbers 0 and 1 of the letters represent the initial position and the rotation position respectively. For pneumatic motors, the subscript numbers 0 and 1 of the letters represent the motor stopping and the motor running respectively. The driving signal of each action and the trigger signal after the action is completed are the air signals sent by pressing the stroke valve. The same as the representation method of the stroke valve in the circuit diagram, it is represented by a combination of letters and 0 or 1, such as: A1 represents the stroke valve pressed when the piston rod of cylinder A is extended, and the pneumatic signal sent after pressing the stroke valve A1. Before starting, the initial state of each actuator is that cylinder B and air claw C are both in the state of piston rod extension, and the initial state of the other direct-acting cylinders before starting is that the piston rod is retracted.

[0046] (2) Cascade conversion gas path classification

[0047] Follow the principle that the English letter codes of actuators should not be repeated and the number of grades should be as small as possible. Figure 3 The given sequential action program is graded from the first action to obtain Figure 4 The cascade conversion gas circuit classification diagram is shown. After the classification is completed, compare the first and last levels to see if there are repeated English letter codes. If not, the first and last levels can be combined into a new first level, and the first action of the original last level is used as the first action of the new first level. Otherwise, no adjustment is made. Figure 4 It can be seen that there is no repeated English letter code between the first and last levels, and the first and last levels can be combined, so the sequential action stroke program is divided into eight levels. The first action of the first level after adjustment is G0, that is, the first action of the working cycle can only be executed when the blank presses the stroke valve G1 to stop the motor G driving the conveyor belt. The number of cascade conversion gas paths when drawing the pneumatic circuit diagram later is consistent with the number of levels at this time.

[0048] (3) Configure the stepper module and analyze its control signal

[0049] The stepper module is configured according to the number of levels of the cascade conversion gas path in the previous step. If there are eight levels, eight stepper modules are configured. The schematic diagram of the stepper module structure is as follows: Figure 5As shown, the air ports 1-3 of the stepper module are input ports, which should be connected to the air supply pipeline of the previous level, the drive signal of this level and the air supply pipeline of the next level respectively. Air port 4 is the output port, which supplies air to the air supply pipeline of this level. Because there is only one pipeline supplying air at any time and each actuator only completes one action in the sequential actions contained in each level, this stepping air supply method can avoid various obstacle signals.

[0050] Stepper Modules and Fig.12 The cascade conversion gas circuits in the circuit schematic diagram correspond one to one. The first stepper module provides compressed air for the first-level cascade conversion gas circuit, the second stepper module provides compressed air for the second-level cascade conversion gas circuit, and so on. The eighth stepper module provides compressed air for the eighth-level cascade conversion gas circuit. At any time, only one stepper module provides compressed air for the corresponding cascade conversion gas circuit. When each stepper module is working, while providing compressed air for the corresponding cascade conversion gas circuit, it can also interrupt the air supply of the previous stepper module to prepare for the air supply of the next stepper module. When the working stepper module provides compressed air for the last action of this level so that the action presses down the stroke valve, the air signal sent by the depressed stroke valve is the trigger signal of the stepper module, and it is also the drive signal of the next stepper module. According to the classification of the cascade conversion gas circuit of the previous step, the trigger signal and drive signal of each stepper module are analyzed, and the stepper module control signal table shown below is listed:

[0051] Table 1: Stepper module control signal table

[0052]

[0053] (4) Configure the main control valve and travel valve

[0054] According to the sequence action program listed in step (1), the pneumatic actuators are determined to be arm extension cylinder A, base lifting cylinder B, gripper clamping cylinder C, rotary cylinder D, drilling cylinder E, wrist flip cylinder F and conveyor drive motor G, a total of 7, each actuator is equipped with a double air-controlled two-position five-way main control valve. For actions that are repeatedly executed in the stroke program, shuttle valves should be configured near the corresponding control air ports of the main control valves. The number of shuttle valves added is increased as the number of repetitions is increased. For example: Action A1 is executed 4 times in total, and the number of repetitions is 3 times. Figure 6 As shown, three shuttle valves are configured at the left control port of the main control valve of this action. Ports 1-4 in the figure are control signals for four actions respectively. Similarly, shuttle valves are configured for other repeated actions, and a total of 12 shuttle valves are configured.

[0055] Analyze the stroke valve pressed at the end of each action in the sequential action stroke program. The air signal emitted by the stroke valve when it is pressed is the trigger signal of this action and also the drive signal of the next action. After analyzing all the stroke valves required by the system, they are divided into two parts. One part provides control signals for the stepper module, which are stroke valves A0, B1, C0, C1, E1, F1 and G1. The other part directly or in conjunction with the shuttle valve and dual-pressure valve provides control signals for the corresponding actions, which are stroke valves A1, B0, D0, D1, E0 and F0.

[0056] (5) Design emergency response loop

[0057] like Figure 7 The emergency stop button and reset button of the pneumatic schematic diagram of the production line control system are shown. By pressing the emergency stop button, the system can pause at any time to handle an emergency. After the emergency is handled, press the reset button to resume work. Figure 7 Port 1 in the figure supplies air to the travel valve and stepper module.

[0058] (6) Design of operation mode switching circuit

[0059] like Figure 8 As shown in the figure, a switching circuit between automatic continuous operation and manual single-step operation is set to realize the switching between the two operation modes. Figure 8 As shown in the figure, for manual single-step operation, first connect the stop valve to the circuit in the left position and then press the single-step operation switch to complete a working cycle. For automatic continuous operation, you must first Figure 8 The right position of the stop valve is connected to the circuit to disconnect the connection with the vent hole, and then the continuous operation switch is pressed to start continuous operation. Figure 8 The gas ports 1 and 2 in the Figure 6 Gas port 1 in the.

[0060] (7) Design pneumatic circuit schematic

[0061] Since the cascade conversion gas circuit in step (2) is divided into eight levels, eight horizontal gas supply pipelines corresponding to levels one to eight need to be drawn in sequence. According to the number of actuators, main control valves and shuttle valves determined in step (4), the above components are drawn above the gas supply pipeline. Eight stepper modules are drawn below the gas supply pipeline. The stroke valves A0, B1, C0, C1, E1, F1 and G1 that provide control signals for the stepper modules determined in step (4) are drawn at the corresponding stepper module input port 2 below the gas supply pipeline, and the other stroke valves A1, B0, D0, D1, E0 and F0 are drawn at the corresponding main control valve control port above the gas supply pipeline.

[0062] When connecting the pipelines, first connect the stepper module to each level of pipelines. The stepper module needs to supply air to each level of pipeline in turn to control whether the pipelines at each level are supplied with air or not, and at any time only one pipeline outputs compressed air, and the remaining pipelines are connected to the atmosphere. The air port 1 of stepper module 1 is connected to the last level of pipeline, the air port 4 is connected to the first level of pipeline, and the air port 3 is connected to the second level of pipeline. Similarly, the air port 1 of stepper module n is connected to the previous level (n-1) pipeline, the air port 4 is connected to the current level of pipeline, and the air port 3 is connected to the next level (n+1) pipeline. The air port 1 of the last stepper module is connected to the previous level of pipeline, the air port 4 is connected to the current level of pipeline, and the air port 3 is connected to the first level of pipeline. The output air port of the stroke valve below the pipeline is connected to the air port 2 of the controlled stepper module, and the input air port is connected to Figure 7 The air port 1 in the pipeline. The output air port of the stroke valve above the pipeline is connected to the control air port of the main control valve of the actuator through a shuttle valve, a dual pressure valve or directly, and the input air port is connected to the corresponding level of air supply pipeline or Figure 7 Gas port 1 in the.

[0063] According to the sequential action stroke program, the air signal sent by the stroke valve pressed at the end of the previous action is the driving signal of this action. In order to avoid the appearance of obstacle signals, the sequential actions displayed by the graded stroke program should be classified when connecting the circuit. Different categories follow different connection methods. Generally, sequential actions can be divided into the following four categories.

[0064] The first category is the action that uses the air signal generated by pressing the stroke valve at the end of the last action in the previous action sequence as the driving signal. It is generally the first action in each action sequence. There are 9 such actions in total: G0 and A1 in the first-level action sequence, B1 in the second-level action sequence, B0 in the third-level action sequence, E0 in the fourth-level action sequence, A1 in the fifth-level action sequence, E0 in the sixth-level action sequence, A1 in the seventh-level action sequence, and B1 in the eighth-level action sequence. Motor G is used to control the start and stop of the conveyor belt. G1 and G0 represent the operation and stop of the conveyor belt respectively. During the operation of the conveyor belt, the rough parts press down the stroke valve G1 to stop the operation, and the action G0 of stopping the operation of the conveyor belt does not generate a control signal. Therefore, the driving signals of actions G0 and A1 in the first-level action sequence are both G1. These 9 actions can all be started at the same time as the air supply pipeline of this level is supplied with air. If the action is executed multiple times in the entire working cycle, the air supply pipeline of this level will supply air to the corresponding control air port of the main control valve controlling the action through the shuttle valve. For example: Fig. 9 -(1) The control signal air supply circuit of action A1 shown in Figure 1. If the action is only executed once in the entire working cycle, the air supply pipeline at this level directly supplies air to the corresponding control air port of the main control valve controlling the action, for example: Fig. 9 -(2) is the control signal air supply circuit for action G0 shown.

[0065] The second category is the actions controlled by the stroke valve that are used only once, except for the actions of one category. There are three such actions: A1 in the three-level action sequence, B1 and D0 in the six-level action sequence. These actions are supplied with air from their corresponding air supply pipelines to the stroke valve that controls the action, and the output air of the stroke valve is supplied directly or through a shuttle valve to the corresponding control air port of the main control valve that controls the action. For example: Fig.10 The control signal air supply circuit of action D0 in the six-stage action sequence shown in the figure. Except for this stroke valve that is supplied with air by the air supply pipeline, the other stroke valves are Figure 7 Air is supplied from port 1 in the

[0066] The third category is repeated actions controlled by the same signal in different cascades. There are 8 such actions: B0 in the first-level action sequence and B0 in the seventh-level action sequence controlled by signal A1, E1 in the third-level action sequence and E1 in the fifth-level action sequence controlled by signal A1, A0 in the second-level action sequence and A0 in the eighth-level action sequence controlled by signal B1, A0 in the fourth-level action sequence and A0 in the sixth-level action sequence controlled by signal E0.

[0067] If the signal only controls this one repetitive action and the stroke valve that generates the signal is located above the air supply pipeline, first use a shuttle valve to connect the different cascade air supply pipelines where the action is located, and then connect the stroke valve that outputs the signal in series. The outlet of the stroke valve directly or through the shuttle valve supplies air to the corresponding control air port of the main control valve that controls the action. For example: Fig.11 - (1) shows the control signal supply circuit of action A0 in the four-stage and six-stage action sequences controlled by signal E0.

[0068] If the signal controls only one repetitive action and the stroke valve generating the signal is located below the air supply pipeline or the signal controls multiple different repetitive actions, the air supply pipelines of different cascades of the repetitive action are firstly connected through the shuttle valve, and then the control signal and the output signal of the shuttle valve are connected through the dual-pressure valve. The outlet of the dual-pressure valve directly or through the shuttle valve supplies air to the corresponding control air port of the main control valve controlling the action. For example: Fig.11 - (2) shows the control signal supply circuit of action E1 in the three-stage and five-stage action sequences controlled by signal A1.

[0069] The fourth category is the remaining actions that do not belong to the above three categories, which are 6 in total: C1 in the seven-level action sequence, C0 in the first-level action sequence, D1 in the third-level action sequence, F1 in the fourth-level action sequence, F0 in the sixth-level action sequence, and G1 in the eighth-level action sequence. These actions use a double-pressure valve to connect the cascade air supply pipeline where the action is located and the stroke valve signal that drives the action, and then the outlet of the double-pressure valve directly or through a shuttle valve supplies air to the corresponding control air port of the main control valve that controls the action. For example: Fig.12The control signal of action C0 in the primary action sequence shown is for the air supply circuit.

[0070] The operation mode switching circuit 8 must be placed on the control signal circuit of the first action to ensure that each operation starts from the first action. All the main control valves in the circuit are supplied by the air source, and the two-position three-way valves in the stepping module are supplied by the air source. Figure 7 Air is supplied from port 1 in the

[0071] like Fig.13 As shown in the figure, it is a circuit schematic diagram of the full pneumatic control system of the double-sided drilling automatic drilling machine production line designed by the stepping cascade method in the present invention. Although the stepping module method can also be used to conveniently and quickly design the full pneumatic control system of the double-sided drilling automatic drilling machine production line, the circuit is too complicated and requires the use of 25 stepping modules composed of dual-pressure valves and two-position three-way valves. Fig.13 As shown, the design using the step cascade method of the present invention uses only 8 identical step modules. Although 9 more dual-pressure valves are used than the pneumatic circuit diagram designed by the step module method, when compared comprehensively, the total number of pneumatic components in the circuit diagram is 25 pneumatic components less than the pneumatic circuit diagram designed by the step module method.

[0072] The above description is only a preferred feasible embodiment of the present invention, and does not limit the scope of rights of the present invention. All equivalent structural changes made using the contents of the present invention description and drawings are included in the scope of rights of the present invention.

Claims

1. A design method for a complex all-pneumatic sequential action circuit, characterized in that: The following steps are involved: (1) Clarify the system requirements and list the sequential action program; (2) Cascade conversion gas path classification; (3) Configure the stepper module and analyze its control signal; (4) Configure the main control valve and travel valve; (5) Design emergency event handling loop; (6) Design the operation mode switching circuit; (7) Design the pneumatic circuit schematic; The (2) cascade conversion gas path classification follows the principle that the English letter codes of the actuators should not be repeated and the fewer the number of classifications, the better. The classification is performed starting from the first action on the given sequential action stroke program to obtain a cascade conversion gas path classification diagram; after the classification is completed, the first level and the last level are compared to check whether there are repeated English letter codes; if not, the first level and the last level can be merged into a new first level, and the first action of the original last level is used as the first action of the new first level; otherwise, no adjustment is made; The (3) stepper module is configured and its control signal is analyzed. The stepper module is configured according to the number of levels of the cascade conversion gas circuit in the previous step. The stepper module is configured in the same way as the cascade conversion gas circuit is divided into several levels. The input air port of the stepper module should be connected to the air supply pipeline of the previous level, the drive signal of this level and the air supply pipeline of the next level respectively, and the output air port is supplied by the air supply pipeline of this level. Because there is only one pipeline for air supply at any time and each actuator only completes one action in the sequential actions contained in each level, various obstacle signals can be avoided. The stepper module corresponds to the cascade conversion gas circuit in the circuit schematic diagram one by one. The first stepper module provides compressed air for the first cascade conversion gas circuit, and the second stepper module The block provides compressed air for the secondary cascade conversion air circuit, and so on; at any time, only one stepper module provides compressed air for the corresponding cascade conversion air circuit; when each stepper module is working, while providing compressed air for the corresponding cascade conversion air circuit, it can also interrupt the air supply of the previous stepper module to prepare for the air supply of the next stepper module; when the working stepper module provides compressed air for the last action of this level so that the action presses down the stroke valve, the air signal sent by the pressed stroke valve is the trigger signal of the stepper module, and also the drive signal of the next stepper module; according to the classification of the cascade conversion air circuit of the previous step, the trigger signal and drive signal of each stepper module are analyzed, and the stepper module control signal table is listed.

2. The design method of a complex all-pneumatic sequential action circuit according to claim 1 is characterized in that: The step (4) configures the main control valve and the stroke valve. The number of main control valves is equal to the number of actuators in the sequential action stroke program. Shuttle valves are configured at the main control valves for repeated execution of the action. The number of shuttle valves is increased as the execution is repeated several times. The sequential action stroke program is analyzed to obtain all the required stroke valves and divide them into two parts, one part of the stroke valves providing control signals for the stepping module, and the other part of the stroke valves providing control signals for the main control valves.

3. The design method of a complex all-pneumatic sequential action circuit according to claim 1 is characterized in that: The step (5) designs an emergency event handling circuit, including setting an emergency stop button and a reset button of the full pneumatic sequential action circuit. By pressing the emergency stop button, the system can pause at any time to handle an emergency event, and press the reset button to restart after the emergency event is handled.

4. The design method of a complex all-pneumatic sequential action circuit according to claim 1 is characterized in that: The operation mode switching circuit of step (6) is designed to set a switching circuit for setting two operation modes: automatic continuous operation and manual single-step operation, so as to realize the switching between the two operation modes: automatic continuous operation and manual single-step operation.

5. The design method of a complex all-pneumatic sequential action circuit according to claim 1 is characterized in that: The step (7) designs a pneumatic circuit schematic diagram, classifies all actions in the sequential action stroke program, and designs a control signal air supply circuit for each type of action.

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