Automatic cage placing device for round cage and cage placing method

Abstract

The invention relates to the technical field of food machinery, in particular to an automatic cage placing device for a round cage. Comprising a round cage, an X-axis movement module and a Y-axis movement module installed on the X-axis movement module, the bottom of the Y-axis movement module is connected with a Z-axis movement module, a conveying belt is arranged at the bottom of the Z-axis movement module, and the Z-axis movement module comprises a Z-axis linear sliding rail and a first clamping mechanism arranged at the bottom of the Z-axis linear sliding rail; second clamping mechanisms are arranged on the Z-axis linear sliding rail and located on the two sides of the first clamping mechanism. According to the automatic steamed bun forming machine, formed steamed bun blanks can be tidily arranged in the round cages under the condition that no person makes contact with the steamed bun forming machine, the placed round cages are automatically stacked together one by one, sanitation and safety of steamed buns are guaranteed, the production efficiency is improved, labor is saved, and meanwhile the labor amount is reduced; compared with a traditional cage arranging method, the cage arranging method for the round cage has the advantages that the number of times of taking steamed bun blanks is reduced, the cage arranging time is greatly shortened, and the production efficiency is further improved.

Description

Technical Field

[0001] The invention relates to the technical field of food machinery, and in particular to an automatic cage swinging device and a cage swinging method for a round cage. Background Art

[0002] In the steamed bun automated production line, the steamed bun embryos after cutting and kneading need to be neatly placed on trays as required and transported to the steaming room for steaming. Since round steamers have advantages over square steamers in processing and use, round steamers are more applicable at present. The process of placing steamed bun embryos in round cages is: manually taking the steamed bun embryos from the conveyor line and placing them in the round cages, which sometimes requires multiple workers. The work is monotonous and labor-intensive, and the quality of placing the cages is easily affected by human factors. The hygiene standards are difficult to guarantee and do not meet the requirements of automated production.

[0003] The existing automatic placement device of steamed bun embryos generally places the steamer in a row by placing them on the steamer. This placement method is suitable for square steamers with the same number of steamed bun embryos placed in each row. For round steamers, since the number of steamed bun embryos placed in the outermost row and the middle row in the round steamer is quite different, but the time required for the placement process is not much different, if this placement method is still used, the transmission speed of the steamed bun embryos needs to be controlled not to be too fast, otherwise the steamed bun embryos will be piled up. If the transmission speed of the steamed bun embryos is slow, the work efficiency will be reduced. Summary of the invention

[0004] In view of the deficiencies in the prior art, the present invention provides an automatic cage swinging device and a cage swinging method for a round cage, so as to solve the problems existing in the above-mentioned background technology.

[0005] To achieve the above technical objectives, the present invention proposes the following technical solutions: an automatic cage swing device for a round cage, comprising a round cage, a column, an X-axis motion module arranged on the top of the column and a Y-axis motion module installed on the X-axis motion module, the bottom of the Y-axis motion module is connected to the Z-axis motion module, the bottom of the Z-axis motion module is provided with a conveyor belt, the Z-axis motion module comprises a Z-axis linear slide and a first clamping mechanism arranged at the bottom of the Z-axis linear slide, a second clamping mechanism is arranged on the Z-axis linear slide and on both sides of the first clamping mechanism, the second clamping mechanism can slide into the first clamping mechanism, a workbench for placing the round cage is provided on one side of the conveyor belt, two round cage stacking racks are symmetrically arranged on one side of the workbench, a base is provided between the two round cage stacking racks, a driving mechanism for lifting the round cage and placing it on the round cage stacking rack is provided in the base, the driving mechanism comprises a hydraulic cylinder and a pallet, when the hydraulic cylinder is extended, a structure in which the round cage on the pallet first rises and then rotates to rise is formed, and when the hydraulic cylinder is retracted, a structure in which the pallet first descends and then reversely rotates to descend is formed.

[0006] Furthermore, the first clamping mechanism includes a first clamping cylinder and a first clamping jaw, the second clamping mechanism includes a second clamping cylinder and a second clamping jaw, and one end of the Z-axis linear slide rail is provided with a motor for driving the two second clamping cylinders to move relative to or away from each other.

[0007] Furthermore, the workbench is provided with two slide rails, which extend to the base, and a slide plate is slidably connected to the two slide rails. The slide plate is provided with a through hole allowing the tray to pass through. A telescopic cylinder is provided on the end of the workbench away from the base, and the protruding end of the telescopic cylinder is connected to the slide plate.

[0008] Furthermore, a positioning block is provided at the end of the slide plate, and a positioning groove for accommodating the round cage handle is provided on the positioning block.

[0009] Furthermore, support plates for supporting the round cages are relatively arranged on the round cage stacking racks.

[0010] Furthermore, a limiting groove is provided on the support plate.

[0011] Furthermore, the driving mechanism also includes a sleeve and a support shaft, the support shaft is sleeved in the sleeve, the tray is arranged on the top of the support shaft, a slide groove with a parallelogram structure is opened on the inner wall of the sleeve, four side grooves of the slide groove are provided with stepped protrusions, a slide hole is opened on the outer wall of the support shaft, a slide column is connected to the slide hole through a spring, the end of the slide column away from the spring is in the slide groove, and the bottom of the support shaft is rotatably connected to the piston rod of the hydraulic cylinder.

[0012] Furthermore, two parallel side grooves on opposite sides of the slide groove are vertically opened, and the other two opposite side grooves of the slide groove are inclined upwardly opened.

[0013] Furthermore, the cage swinging method of the automatic cage swinging device for the round cage comprises the following operating steps: ① the upper grate plate of the round cage is evenly divided into seven rows of A, B, C, D, E, F, and G from front to back, and the number of steamed bun embryos placed in the seven rows gradually decreases from the middle to both sides, the round cage is first placed on the slide, and the steamed bun embryo production line, the X-axis motion module, the Y-axis motion module, and the Z-axis motion module are started; ② Start the motor, and the motor controls the two second clamping mechanisms to move back and forth, and the first clamping mechanism and the second clamping mechanism synchronously clamp the steamed bun embryo on the conveyor belt, and place the steamed bun embryo on row D along the X-axis motion module and the Y-axis motion module; then the first clamping mechanism and the second clamping mechanism return to the top of the conveyor belt, and at the same time, the motor controls the second clamping mechanism to move relatively, and then clamps the steamed bun embryo, and places the steamed bun embryo on row C or row E along the X-axis motion module and the Y-axis motion module; the first clamping mechanism and the second clamping mechanism return to the top of the conveyor belt, and at the same time, the motor controls the second clamping mechanism to move back and forth, and the first clamping mechanism and the second clamping mechanism clamp the steamed bun embryo and place the steamed bun embryo clamped by the first clamping mechanism on row A or row G along the X-axis motion module and the Y-axis motion module, and then the motor controls the second clamping mechanism to move relatively, and places the steamed bun embryo on row B or row F along the X-axis motion module; ③ Push the round cage filled with steamed bun embryos in step ② to the top of the tray, and start the hydraulic cylinder to push the support shaft to extend along the direction of the sleeve to lift the round cage. The hydraulic cylinder continues to push the support shaft, and the round cage on the tray continues to be lifted and rotated, so that the handle on the round cage is directly above the support plate. The hydraulic cylinder contracts, the tray descends, and the handle is located on the support plate. The hydraulic cylinder continues to contract, the tray descends and rotates in the opposite direction to reset. The operation is repeated in this way. The next round cage lifts the previous round cage, so that the handle of the next round cage is placed on the support plate, and the stacking of multiple round cages is completed.

[0014] Furthermore, in step ①, a handle on the round cage is placed in the positioning groove for positioning.

[0015] Compared with the prior art, the beneficial effects produced by the present invention are as follows: the cage swinging device for round-cage steamed bun embryos of the present invention can neatly arrange the formed steamed bun embryos in the round cage without human contact, and automatically stack the round cages with the steamed bun embryos arranged therein one by one, thereby ensuring the hygiene and safety of the steamed buns, improving production efficiency, saving labor, and reducing labor intensity; through structures such as hydraulic cylinders, sleeves, support shafts, slide grooves, and slide columns, the round cages are driven to first rise, then rotate and rise, and finally fall onto the support plate, thereby realizing automatic stacking of the round cages one by one, reducing manual stacking and reducing labor costs; compared with the traditional cage swinging method, the cage swinging method of the present invention for round cages reduces the number of times the steamed bun embryos are taken out, greatly shortens the cage swinging time, and further improves production efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 It is a schematic diagram of the overall structure of the present invention from another perspective; Figure 3 It is a structural schematic diagram of the Z-axis motion module of the present invention; Figure 4 It is a schematic diagram of the stacking structure of the round cage of the present invention; Figure 5 It is a structural schematic diagram of the stacking of round cages of the present invention from another perspective; Figure 6 It is a schematic diagram of the cross-sectional structure of the base of the present invention; Figure 7 It is a structural schematic diagram of the driving mechanism of the present invention; Figure 8 is an exploded schematic diagram of the sleeve and the support shaft of the present invention; Fig. 9 It is a schematic diagram of the cross-sectional structure of the support shaft of the present invention; Fig.10 It is a structural schematic diagram of placing steamed bun embryos on a round cage of the present invention.

[0017] In the figure, 1, column; 2, X-axis motion module; 3, Y-axis motion module; 4, Z-axis motion module; 41, Z-axis linear slide; 42, first clamping cylinder; 43, first clamping jaw; 44, second clamping cylinder; 45, second clamping jaw; 46, motor; 5, conveyor belt; 6, workbench; 7, round cage stacking rack; 8, base; 9, driving mechanism; 91, hydraulic cylinder; 92, tray; 93, sleeve; 94, support shaft; 95, slide groove; 96, stepped protrusion; 97, slide column; 98, spring; 10, slide rail; 11, slide plate; 12, through hole; 13, telescopic cylinder; 14, positioning block; 15, positioning groove; 16, support plate; 17, round cage; 18, limit groove. DETAILED DESCRIPTION

[0018] The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described in conjunction with the accompanying drawings, but the present invention is not limited to these embodiments.

[0019] In the present invention, unless otherwise clearly specified and limited, the terms "set", "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense. For example, it can be a fixed connection or a detachable connection; it can be a mechanical connection; it can be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to the specific circumstances. In addition, the terms "first" and "second" are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, the meaning of "multiple" is two or more, unless otherwise clearly and specifically limited.

[0020] Example 1: Figure 1-9As shown, the present invention provides an automatic swing cage device for a round cage, comprising a round cage 17, a column 1, an X-axis motion module 2 arranged on the top of the column 1, and a Y-axis motion module 3 installed on the X-axis motion module 2, wherein the bottom of the Y-axis motion module 3 is connected to a Z-axis motion module 4, the bottom of the Z-axis motion module 4 is provided with a conveyor belt 5, the Z-axis motion module 4 comprises a Z-axis linear slide 41 and a first clamping mechanism arranged at the bottom of the Z-axis linear slide 41, and second clamping mechanisms are arranged on the Z-axis linear slide 41 and on both sides of the first clamping mechanism, and the second clamping mechanism The structure can slide into the first clamping mechanism, a workbench 6 for placing the round cage 17 is provided on one side of the conveyor belt 5, two round cage stacking racks 7 are symmetrically arranged on one side of the workbench 6, a base 8 is provided between the two round cage stacking racks 7, a driving mechanism 9 for lifting the round cage 17 and placing it on the round cage stacking rack 7 is provided in the base 8, the driving mechanism 9 includes a hydraulic cylinder 91 and a tray 92, when the hydraulic cylinder 91 is extended, the round cage 17 on the tray 92 can be formed to rise first and then rotate to rise, when the hydraulic cylinder 91 is retracted, the tray 92 can be formed to descend first and then rotate in the opposite direction to descend.

[0021] like Figure 1 , Figure 2 as well as Figure 6 As shown, the X-axis motion module 2 and the Y-axis motion module 3 both include a linear motion module consisting of a drive motor, a guide rail, a slider, and a synchronous belt. Since it is a prior art, the detailed connection method in this embodiment will not be repeated. The first clamping mechanism is fixed relative to the Z-axis linear slide rail, and the second clamping mechanism can move relative to or toward and away from the Z-axis linear slide rail. When moving away from each other, the overall clamping length of the second clamping mechanism and the first clamping mechanism increases, which can increase the number of steamed bun embryos that can be clamped at one time. When the two second clamping mechanisms move toward each other, the clamping length decreases to reduce the number of steamed bun embryos that can be clamped at one time. The workbench 6 is used to place empty round cages. The steamed bun embryos clamped by the first clamping mechanism and the second clamping mechanism are driven by the X-axis motion module 2 and the Y-axis motion module 3 and are transported to the round cage 17 for placement. The round cage stacking rack 7 is fixed to both sides of the base 8 by bolts, and the tray 92 is used to carry the round cage 17. Under the action of the hydraulic cylinder 91, the round cage 17 on the tray 92 is first lifted up and rotated, and then lowered, so that the handle of the round cage 17 is stuck on the round cage stacking rack 7, and the stacking is repeated. A plurality of round cages 17 are stacked on the round cage stacking rack 7. When the round cages 17 are stacked for the last time, the hydraulic cylinder 91 lifts up and rotates the last round cage 17 and the round cages 17 that have been stacked on the round cage stacking rack 7, and the handle of the last round cage 17 is in an overhead state. The staff can transfer the stacked round cages 17 as a whole to a place suitable for proofing for secondary fermentation.

[0022] The first clamping mechanism includes a first clamping cylinder 42 and a first clamping claw 43, and the second clamping mechanism includes a second clamping cylinder 44 and a second clamping claw 45. One end of the Z-axis linear slide 41 is provided with a motor 46 for driving the two second clamping cylinders 44 to move relative to or away from each other.

[0023] like Figure 3 As shown, a screw is provided in the Z-axis linear slide 41, and the top of the second clamping cylinder 44 is threadedly connected to the screw. The motor 46 drives the screw to rotate, driving the two second clamping cylinders 44 to move relative to each other or back and forth. When moving relative to each other, the second clamping jaw 45 can be extended into the first clamping jaw 43, so that the overall clamping length composed of the first clamping jaw 43 and the second clamping jaw 45 is increased or reduced. The first cylinder 42 and the second cylinder 44 are both double-slider guide rodless cylinders, which are used to control the clamping and release of the clamping jaws.

[0024] The workbench 6 is provided with two slide rails 10, which extend to the base 8, and a slide plate 11 is slidably connected to the two slide rails 10. The slide plate 11 is provided with a through hole 12 for allowing the tray 92 to pass through. A telescopic cylinder 13 is provided at one end of the workbench 6 away from the base 8, and the protruding end of the telescopic cylinder 13 is connected to the slide plate 11.

[0025] like Figure 4-6 As shown, the round cage 17 is on the slide 11, and the round cage 17 can be pushed along the slide rail 10 to the top of the tray 92 by the telescopic cylinder 13. The hydraulic cylinder 91 controls the tray 92 to rise through the through hole 12 to lift the round cage 17. The telescopic cylinder 13 contracts to drive the slide 11 back to the workbench 6 to wait for the next round cage 17.

[0026] A positioning block 14 is provided at the end of the slide plate 11 , and a positioning groove 15 for accommodating the handle of the round cage 17 is provided on the positioning block 14 .

[0027] like Figure 5 As shown, the positioning groove 15 is used to place a handle of the round cage 17, and can limit the placement position of the round cage 17, so as to ensure that the handle falls on the round cage stacking frame 7 after the round cage 17 is rotated.

[0028] The round cage stacking racks 7 are each provided with supporting plates 16 for supporting the round cages 17 .

[0029] like Figure 5 As shown, the support plate 16 is used to support the handle of the round cage 17 to set up the round cage 17.

[0030] The support plate 16 is provided with a limiting groove 18 .

[0031] like Figure 5 As shown, the limiting groove 18 can be used to prevent the round cage 17 from sliding off the supporting plate 16 .

[0032] The driving mechanism 9 also includes a sleeve 93 and a support shaft 94. The support shaft 94 is sleeved in the sleeve 93. The tray 92 is arranged on the top of the support shaft 94. A slide groove 95 with a parallelogram structure is opened on the inner wall of the sleeve 93. The four side grooves of the slide groove 95 are provided with stepped protrusions 96. A slide hole is opened on the outer wall of the support shaft 94. The slide hole is connected to a slide column 97 through a spring 98. The end of the slide column 97 away from the spring 98 is in the slide groove 95. The bottom of the support shaft 94 is rotatably connected to the piston rod of the hydraulic cylinder 91.

[0033] like Figure 6-9 As shown, a mounting cavity is provided in the base 8, and the sleeve 93 is fixed in the mounting cavity, and the hydraulic cylinder 91 is installed at the bottom of the cavity through the bolt member, and the piston rod end of the hydraulic cylinder 91 is rotatably mounted on the bottom of the support shaft 94 through the bearing, and the slide column 97 slides along the slide groove 95 in the slide groove 95, and the stepped protrusion 96 at the bottom of the slide groove 95, and the end of the slide column 97 can slide along the stepped protrusion 96, and under the elastic action of the spring 98, when the slide column 97 runs to the high place with the stepped protrusion 96, the slide column 97 will retract a part of the slide hole, and can be reset when it runs to the low place, which can ensure that the slide column 97 slides unidirectionally in the slide groove 95, and the slide groove 95 with a parallelogram structure enables the slide column 97 to drive the support shaft 94 to move along the slide groove 95, and enables the slide column 97 to reset to its original position.

[0034] The two parallel side grooves of the slide groove 95 are vertically opened, and the other two opposite side grooves of the slide groove 95 are inclined upwardly opened.

[0035] like Figure 7 As shown, there are two opposite side grooves of the vertical structure. When the sliding column 97 slides in a vertically opened side groove, the support shaft 94 is controlled to rise. When the sliding column 97 slides in another vertically opened side groove, the support column 94 descends. When the sliding column 97 slides in an inclined side groove, the support column 94 rotates and rises. When the sliding column 97 slides in another inclined side groove, the support column 94 rotates and descends. The overall movement process of the support shaft 94 is: the support shaft 94 first rises, then rotates 90° while rising, then descends, and finally descends again. At the same time, it rotates 90° in the opposite direction during the descent to restore the support shaft 94 to its original position, and then repeats the above movement.

[0036] The method for swinging a round cage with an automatic swinging device comprises the following steps: ① For the convenience of description, the upper grate plate of the round cage 17 is evenly divided into seven rows of A, B, C, D, E, F, and G from front to back, such as Fig.10As shown, the number of steamed bun embryos placed in seven rows gradually decreases from the middle to both sides. First, the round cage 17 is placed on the slide 11. When placing, pay attention to placing a handle on the round cage 17 in the positioning groove 95 for positioning. At this time, the two handles of the round cage 17 are arranged parallel to the stacking rack 7, and the steamed bun embryo production line, the X-axis motion module 2, the Y-axis motion module 3 and the Z-axis motion module 4 are started; ② Start the motor 46, which controls the two second clamping mechanisms to move backwards to expand the clamping length. The first clamping mechanism and the second clamping mechanism synchronously clamp the steamed bun embryo on the conveyor belt 5, and place the steamed bun embryo on the D row along the X-axis motion module 2 and the Y-axis motion module 3; then the first clamping mechanism and the second clamping mechanism return to the top of the conveyor belt 5. During the return process, the motor 46 controls the second clamping mechanism to move relatively to shorten the clamping length, and then clamps the steamed bun embryo and places the steamed bun embryo on the C row or the E row along the X-axis motion module 2 and the Y-axis motion module 3; the first clamping mechanism The first clamping mechanism and the second clamping mechanism continue to return to the top of the conveyor belt 5 to wait for clamping the steamed bun embryo. During the return process, the motor 46 controls the second clamping mechanism to move backward, so that the clamping length increases. The first clamping mechanism and the second clamping mechanism clamp the steamed bun embryo and place the steamed bun embryo clamped by the first clamping mechanism on the A row or the G row along the X-axis motion module 2 and the Y-axis motion module 3. At this time, the first clamping claw of the first clamping mechanism is in an empty state. Then the motor 46 controls the second clamping mechanism to move toward the direction of the first clamping mechanism, and places the steamed bun embryo on the B row or the F row along the X-axis motion module 2. ③ The round cage 17 filled with steamed bun embryos in step ② is pushed to the top of the tray 92 by the telescopic cylinder 13, and the hydraulic cylinder 91 is started. The hydraulic cylinder 91 extends and pushes the support shaft 94 to extend along the direction of the sleeve 93. During the extension process, the slide column 97 slides along the slide groove 95 of the parallelogram mechanism, and the support shaft 94 first lifts the round cage 17. The hydraulic cylinder 91 continues to push the support shaft 94 upward to rise. During the rising process, the round cage 17 on the tray 92 rotates 90°, so that the handle on the round cage 17 is located directly above the support plate 16, and then the hydraulic cylinder 91 is controlled to retract, and the tray 92 first descends, and the handle is located on the support plate 16. The hydraulic cylinder 91 continues to contract, and the tray 92 descends again. During the descending process, it rotates 90° in the opposite direction to reset the support shaft 94. The operation is repeated in this way. The next round cage lifts up the previous round cage, so that the handle of the next round cage is placed on the support plate 16, and the previous round cage is stacked on the top of the next round cage. The stacking of multiple round cages 17 is completed. When a certain number of round cages 17 are stacked, the last round cage lifts up the previous round cage on the support plate 16 together, and then lifts up while rotating, so that the handle of the last round cage 17 is in an overhead state. The staff transfers the stacked round cages 17 as a whole to a place suitable for proofing for secondary fermentation.

[0037] Embodiment 2: If the number of steamed bun embryos placed on the grate plate of the round cage 17 in the seven rows is 3, 6, 7, 8, 7, 6, and 3 from front to back, and the length of the first clamp 43 and the second clamp 45 are the same, when the cage is set, if in the initial state, the clamping length of the first clamp 43 and the second clamp 45 is the longest, and the number of steamed bun embryos clamped by the first clamp 43 and the second clamp 45 is the same, both are 3, the conveyor belt 5 continuously transports the steamed bun embryos, and the two second clamps 45 move relative to each other, and the first clamp 43 and the second clamp 45 clamp 2 and 3 respectively The steamed bun embryo moves toward the direction of the round cage 17 and is placed on the D row of the round cage 17. The first clamp 43 and the second clamp 45 return toward the direction of the conveyor belt 5. During the return process, the two second clamps 45 continue to move relative to each other. The first clamp 43 and the second clamp 45 clamp 1 and 3 steamed bun embryos respectively, and move toward the direction of the round cage 17 and place it on the E row of the round cage 17. The first clamp 43 and the second clamp 45 return toward the direction of the conveyor belt 5. During the return process, the two second clamps 45 move backwards and return to the initial state. The first clamp 43 and the second clamp The claws 45 clamp the three steamed bun embryos and move toward the round cage 17, and place the steamed bun embryos clamped by the first claw 43 on the G row of the round cage 17. The first claw 43 and the second claw 45 move toward the F row of the round cage 17. During the movement, the two second claws 45 move relative to each other and enter the first claw 43 and then place it on the F row. Subsequently, the first claw 43 and the second claw 45 move toward the direction of the conveyor belt 5, and at the same time, the two second claws 45 move backwards, and the first claw 43 and the second claw 45 clamp 2 and 3 steamed bun embryos respectively. , place it on row C, as in the operations of placing it on E, G, and F, place the steamed bun embryos on C, A, and B in turn, and in the process of placing the steamed bun embryos on the round cage 17, according to the conventional cage-swinging method, 7 rows need to take out the steamed bun embryos seven times and place them seven times. In this embodiment, only the steamed bun embryos need to be taken out five times and placed seven times. In the conventional cage-swinging method of taking one row and placing one row, the conveying speed of the conveyor belt 5 cannot be too fast, otherwise the steamed bun embryos on the conveyor belt 5 will accumulate. Therefore, compared with the conventional cage-swinging method, the present invention can greatly shorten the cage-swinging time and improve production efficiency.

[0038] The specific embodiments described herein are merely examples of the spirit of the present invention. Those skilled in the art may make various modifications or additions to the specific embodiments described or replace them in similar ways, but they will not deviate from the spirit of the present invention or exceed the scope defined by the appended claims.

Claims

1. An automatic cage swing device for a round cage, comprising a round cage (17), a column (1), an X-axis motion module (2) arranged on the top of the column (1), and a Y-axis motion module (3) installed on the X-axis motion module (2), the bottom of the Y-axis motion module (3) is connected to a Z-axis motion module (4), and the bottom of the Z-axis motion module (4) is provided with a conveyor belt (5), characterized in that: The Z-axis motion module (4) comprises a Z-axis linear slide rail (41) and a first clamping mechanism arranged at the bottom of the Z-axis linear slide rail (41); a second clamping mechanism is arranged on the Z-axis linear slide rail (41) and on both sides of the first clamping mechanism; the second clamping mechanism can slide into the first clamping mechanism; a workbench (6) for placing the round cage (17) is arranged on one side of the conveyor belt (5); two round cage stacking racks (7) are symmetrically arranged on one side of the workbench (6); a base (8) is arranged between the two round cage stacking racks (7); a driving mechanism (9) is arranged in the base (8) for lifting the round cage (17) and placing it on the round cage stacking rack (7); the driving mechanism (9) comprises a hydraulic cylinder (91) and a tray (92); when the hydraulic cylinder (91) is extended, a structure is formed in which the round cage (17) on the tray (92) first rises and then rotates to rise; when the hydraulic cylinder (91) is retracted, a structure is formed in which the tray (92) first descends and then rotates in the opposite direction to descend.

2. The automatic cage swinging device for a round cage according to claim 1, characterized in that: The first clamping mechanism comprises a first clamping cylinder (42) and a first clamping claw (43), the second clamping mechanism comprises a second clamping cylinder (44) and a second clamping claw (45), and a motor (46) for driving the two second clamping cylinders (44) to move relative to or away from each other is provided at one end of the Z-axis linear slide rail (41).

3. The automatic cage swinging device for a round cage according to claim 2, characterized in that: The workbench (6) is provided with two slide rails (10), the two slide rails (10) extend to the base (8), and a slide plate (11) is slidably connected to the two slide rails (10), and the slide plate (11) is provided with a through hole (12) for allowing the tray (92) to pass through. A telescopic cylinder (13) is provided at one end of the workbench (6) away from the base (8), and the protruding end of the telescopic cylinder (13) is connected to the slide plate (11).

4. The automatic cage swinging device for a round cage according to claim 3, characterized in that: A positioning block (14) is provided at the end of the slide plate (11), and a positioning groove (15) for accommodating a handle of the round cage (17) is provided on the positioning block (14).

5. The automatic cage swinging device for a round cage according to claim 1, characterized in that: Support plates (16) for supporting the round cages (17) are arranged opposite to each other on the round cage stacking racks (7).

6. The automatic cage swinging device for a round cage according to claim 5, characterized in that: The support plate (16) is provided with a limiting groove (18).

7. The automatic cage swinging device for a round cage according to claim 1, characterized in that: The driving mechanism (9) further comprises a sleeve (93) and a support shaft (94), wherein the support shaft (94) is sleeved in the sleeve (93), the tray (92) is arranged on the top of the support shaft (94), a slide groove (95) of a parallelogram structure is provided on the inner wall of the sleeve (93), four side grooves of the slide groove (95) are provided with stepped protrusions (96), a slide hole is provided on the outer wall of the support shaft (94), a slide column (97) is connected to the slide hole via a spring (98), an end of the slide column (97) away from the spring (98) is located in the slide groove (95), and the bottom of the support shaft (94) is rotatably connected to the piston rod of the hydraulic cylinder (91).

8. The automatic cage swinging device for a round cage according to claim 7, characterized in that: Two parallel side grooves of the slide groove (95) are vertically opened, and the other two side grooves of the slide groove (95) are inclined upward.

9. The cage swinging method of the automatic cage swinging device for a round cage according to any one of claims 1 to 8, characterized in that: The method comprises the following steps: ① evenly dividing the upper grate plate of the round cage (17) into seven rows of A, B, C, D, E, F and G from front to back, wherein the number of steamed bun embryos placed in the seven rows gradually decreases from the middle to the sides, firstly placing the round cage (17) on the slide plate (11), and starting the X-axis motion module (2), the Y-axis motion module (3) and the Z-axis motion module (4); ② Start the motor (46), the motor (46) controls the two second clamping mechanisms to move backwards, the first clamping mechanism and the second clamping mechanism synchronously clamp the steamed bun embryo on the conveyor belt (5), and place the steamed bun embryo on the D row along the X-axis motion module (2) and the Y-axis motion module (3); then the first clamping mechanism and the second clamping mechanism return to the top of the conveyor belt (5), and at the same time the motor (46) controls the second clamping mechanism to move relative to each other, and then clamps the steamed bun embryo, and places the steamed bun embryo along the X-axis motion module (2) and the Y-axis motion module (3). The first embryo is placed on row C or row E; the first clamping mechanism and the second clamping mechanism return to the top of the conveyor belt (5), and at the same time the motor (46) controls the second clamping mechanism to move backwards, the first clamping mechanism and the second clamping mechanism clamp the embryo of the steamed bun and move along the X-axis motion module (2) and the Y-axis motion module (3) to place the embryo of the steamed bun clamped by the first clamping mechanism on row A or row G, and then the motor (46) controls the second clamping mechanism to move relatively and place the embryo of the steamed bun on row B or row F along the X-axis motion module (2); ③ Push the round cage (17) filled with steamed bun embryos in step ② to the top of the tray (92), and start the hydraulic cylinder (91) to push the support shaft (94) to extend along the direction of the sleeve (93), so as to lift the round cage (17). The hydraulic cylinder (91) continues to push the support shaft (94), and the round cage (17) on the tray (92) continues to be lifted and rotated, so that the handle on the round cage (17) is located directly above the support plate (16). The hydraulic cylinder (91) contracts, and the tray (92) descends, and the handle is located on the support plate (16). The hydraulic cylinder (91) continues to contract, and the tray (92) descends and rotates in the opposite direction to reset. This cycle of reciprocating operations is repeated, and the next round cage lifts up the previous round cage, so that the handle of the next round cage is placed on the support plate (16), and the stacking of multiple round cages (17) is completed.

10. The cage swinging method of the automatic cage swinging device for a round cage according to claim 9, characterized in that: Step ① When placing, place a handle on the round cage (17) in the positioning groove (95) for positioning.

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