Automatic cage swinging device for round cages and method for swinging cages

Abstract

The present application relates to the technical field of food machinery, and particularly relates to an automatic steamed bun cage arranging device for a round cage; the automatic steamed bun cage arranging device comprises 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, the bottom of the Z-axis movement module is provided with a conveying belt, the Z-axis movement module comprises a Z-axis linear slide rail and a first clamping mechanism arranged at the bottom of the Z-axis linear slide rail, and the Z-axis linear slide rail is provided with a second clamping mechanism on both sides of the first clamping mechanism; the formed steamed bun embryo can be arranged in the round cage in an orderly manner without human contact, and the arranged round cages are automatically stacked together one by one, the hygiene and safety of the steamed buns are ensured, the production efficiency is improved, the manual work is saved, and the labor amount is reduced; compared with the traditional arranging method, the arranging method for the round cage reduces the number of times of taking the steamed bun embryo, greatly shortens the arranging time, and further improves the production efficiency.

Description

Technical Field

[0001] This invention relates to the field of food machinery technology, specifically to an automatic cage-sharing device and method for round steamers. Background Technology

[0002] In automated steamed bun production lines, the dough, after being cut and kneaded, needs to be neatly arranged on trays and transported to the proofing and steaming room for steaming. Because round steamers are more advantageous in both processing and use than square steamers, they are currently more widely applicable. The process of arranging the dough in round steamers involves manual removal of the dough from the conveyor line and placement in the steamer, sometimes requiring multiple workers. This work is monotonous, labor-intensive, and the quality of placement is easily affected by human factors, making it difficult to guarantee hygiene standards and failing to meet the requirements of automated production.

[0003] Existing automatic steamed bun placement devices typically arrange the buns in rows on the steamer. This method is suitable for square steamers with the same number of buns per row. However, for round steamers, the number of buns in the outermost row differs significantly from that in the middle row, although the placement time is similar. If this method is still used, the conveying speed of the buns needs to be controlled to prevent them from piling up. A slow conveying speed will also reduce work efficiency. Summary of the Invention

[0004] To address the shortcomings of existing technologies, this invention provides an automatic cage-swinging device and method for round cages, thereby resolving the problems existing in the background technology.

[0005] To achieve the above technical objectives, the present invention proposes the following technical solution: an automatic cage-swinging device for round cages, comprising a round cage, a column, an X-axis motion module disposed on the top of the column, and a Y-axis motion module mounted on the X-axis motion module. The bottom of the Y-axis motion module is connected to a Z-axis motion module, and the bottom of the Z-axis motion module is provided with a conveyor belt. The Z-axis motion module includes a Z-axis linear slide rail and a first clamping mechanism disposed at the bottom of the Z-axis linear slide rail. A second clamping mechanism is provided on both sides of the Z-axis linear slide rail and located on both sides of the first clamping mechanism. The second clamping mechanism can slide into the first clamping mechanism. A worktable for placing round cages is provided on one side of the conveyor belt. Two round cage stacking racks are symmetrically arranged on one side of the worktable. A base is provided between the two round cage stacking racks. A drive mechanism for lifting round cages and placing them on the round cage stacking racks is provided in the base. The drive mechanism includes a hydraulic cylinder and a tray. When the hydraulic cylinder extends, it can form a structure in which the round cage on the tray first rises and then rotates upwards. When the hydraulic cylinder retracts, it can form a structure in which the tray first descends and then rotates downwards in the opposite direction.

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

[0007] Furthermore, the workbench is provided with two slide rails that extend to the base, and slide plates are slidably connected to the two slide rails. The slide plates have through holes that allow the tray to pass through. A telescopic cylinder is provided at one end of the workbench away from the base, and the extended end of the telescopic cylinder is connected to the slide plate.

[0008] Furthermore, the end of the skateboard is provided with a positioning block, and a positioning groove for accommodating the round cage handle is formed on the positioning block.

[0009] Furthermore, each of the circular cage stacking racks is provided with a support plate that supports the circular cage.

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

[0011] Furthermore, the drive mechanism also includes a sleeve and a support shaft. The support shaft is fitted inside the sleeve, and the tray is set on the top of the support shaft. A parallelogram-shaped groove is formed on the inner wall of the sleeve, and stepped protrusions are provided in the four side grooves of the groove. A sliding hole is formed on the outer wall of the support shaft, and a sliding column is connected to the sliding hole by a spring. The end of the sliding column away from the spring is located in the sliding groove. The bottom of the support shaft is rotatably connected to the piston rod of the hydraulic cylinder.

[0012] Furthermore, the two parallel side grooves of the slide are vertically opened, while the other two parallel side grooves of the slide are inclined upwards.

[0013] Furthermore, the method of arranging the round cage using the automatic cage arranging device includes the following operation steps: ① Divide the upper grate of the round cage into seven rows A, B, C, D, E, F, and G evenly from front to back. The number of steamed bun dough pieces placed in the seven rows gradually decreases from the middle to both sides. First, place the round cage on the sliding plate and start the steamed bun dough production line, the X-axis motion module, the Y-axis motion module, and the Z-axis motion module. ② Start the motor. The motor controls the two second clamping mechanisms to move backwards. The first and second clamping mechanisms simultaneously clamp the steamed bun dough on the conveyor belt and place the steamed bun dough on row D along the X-axis and Y-axis motion modules. Then, the first and second clamping mechanisms return to the top of the conveyor belt. At the same time, the motor controls the second clamping mechanisms to move relative to each other and clamp the steamed bun dough, placing it on row C or row E along the X-axis and Y-axis motion modules. The first and second clamping mechanisms then return to the top of the conveyor belt. At the same time, the motor controls the second clamping mechanisms to move backwards. The first and second clamping mechanisms clamp the steamed bun dough and place it on row A or row G along the X-axis and Y-axis motion modules. Then, the motor controls the second clamping mechanisms to move relative to each other and place the steamed bun dough on row B or row F along the X-axis motion module. ③ Push the round cage filled with steamed bun dough from step ② onto the top of the tray and activate the hydraulic cylinder to push the support shaft to extend along the sleeve, lifting 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 retracts, the tray descends, and the handle is on the support plate. The hydraulic cylinder continues to retract, the tray descends and rotates in the opposite direction to reset. This cycle is repeated, and the next round cage lifts the previous round cage, so that the handle of the next round cage is placed on the support plate, completing the stacking of multiple round cages.

[0014] Furthermore, in step ①, when placing the cage, position one of the handles in the positioning groove.

[0015] Compared with existing technologies, the beneficial effects of this invention are as follows: The steamer arrangement device for round steamed bun dough can neatly arrange the formed dough pieces inside the round steamer without human contact, and automatically stack the steamer baskets with the dough pieces arranged one by one, ensuring the hygiene and safety of the steamed buns, improving production efficiency, saving labor, and reducing workload. Through structures such as hydraulic cylinders, sleeves, support shafts, slides, and sliding columns, the round steamer is driven to rise first, then rotate upwards, and finally descend onto the support plate, achieving automatic stacking of the steamer baskets one by one, reducing manual stacking and lowering labor costs. Compared with traditional steamer arrangement methods, the steamer arrangement method of this invention reduces the number of times dough pieces are removed, greatly shortening the arrangement time and further improving production efficiency. Attached Figure Description

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the overall structure from another perspective of the present invention; Figure 3 This is a schematic diagram of the Z-axis motion module of the present invention; Figure 4 This is a schematic diagram of the stacked cage structure of the present invention; Figure 5 This is a structural schematic diagram of the circular cage stacking of the present invention from another perspective; Figure 6 This is a cross-sectional structural diagram of the base of the present invention; Figure 7 This is a schematic diagram of the drive mechanism of the present invention; Figure 8 This is an exploded view of the sleeve and support shaft of the present invention; Figure 9 This is a schematic diagram of the cross-sectional structure of the support shaft of the present invention; Figure 10 This is a schematic diagram of the structure for arranging steamed bun dough on a round steamer basket according to the present invention.

[0017] In the diagram, 1. Column; 2. X-axis motion module; 3. Y-axis motion module; 4. Z-axis motion module; 41. Z-axis linear slide rail; 42. First clamping cylinder; 43. First gripper; 44. Second clamping cylinder; 45. Second gripper; 46. Motor; 5. Conveyor belt; 6. Worktable; 7. Cage stacking rack; 8. Base; 9. Drive mechanism; 91. Hydraulic cylinder; 92. Pallet; 93. Sleeve; 94. Support shaft; 95. Slide groove; 96. Stepped protrusion; 97. Sliding 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. Cage; 18. Limiting groove. Detailed Implementation

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

[0019] In this invention, unless otherwise explicitly specified and limited, the terms "set," "install," "connect," "link," and "fix" should be interpreted broadly. For example, they can refer to a fixed connection or a detachable connection; a mechanical connection; a direct connection or an indirect connection via an intermediate medium. Those skilled in the art can understand the specific meaning of these terms in this invention according to the specific circumstances. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this invention, "a plurality of" means two or more, unless otherwise explicitly specified.

[0020] Example 1: As Figure 1-9As shown, the present invention provides an automatic cage-swinging device for round cages, including a round cage 17, a column 1, an X-axis motion module 2 disposed on the top of the column 1, and a Y-axis motion module 3 mounted on the X-axis motion module 2. A Z-axis motion module 4 is connected to the bottom of the Y-axis motion module 3, and a conveyor belt 5 is provided at the bottom of the Z-axis motion module 4. The Z-axis motion module 4 includes a Z-axis linear slide rail 41 and a first clamping mechanism disposed at the bottom of the Z-axis linear slide rail 41. Second clamping mechanisms are provided on both sides of the Z-axis linear slide rail 41 and on both sides of the first clamping mechanism. The mechanism 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 drive 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 drive mechanism 9 includes a hydraulic cylinder 91 and a tray 92. When the hydraulic cylinder 91 extends, it can form a structure in which the round cage 17 on the tray 92 first rises and then rotates upwards. When the hydraulic cylinder 91 retracts, it can form a structure in which the tray 92 first descends and then rotates downwards in the opposite direction.

[0021] like Figure 1 , Figure 2 as well as Figure 6 As shown, both the X-axis motion module 2 and the Y-axis motion module 3 include linear motion modules composed of a drive motor, guide rail, slider, and synchronous belt. Since this is existing technology, the detailed connection method will not be described in detail in this embodiment. The first clamping mechanism is fixed relative to the Z-axis linear slide rail. The second clamping mechanism can move relative to or 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 buns clamped at one time. When the two second clamping mechanisms move towards each other, the clamping length decreases, which helps to reduce the number of steamed buns clamped at one time. Empty round cages are placed on the worktable 6. The steamed buns clamped by the first and second clamping mechanisms are transported into the round cages 17 and placed under the drive of the X-axis motion module 2 and the Y-axis motion module 3. 7 is fixed to both sides of the base 8 by bolts. The tray 92 is used to support the round cage 17. Under the action of the hydraulic cylinder 91, the round cage 17 on the tray 92 is first lifted and rotated, and then lowered, so that the handle on the round cage 17 is locked on the round cage stacking rack 7. The stacking is repeated, and multiple round cages 17 are stacked on the round cage stacking rack 7. When the round cage 17 is stacked for the last time, the hydraulic cylinder 91 lifts and rotates the last round cage 17 and the round cages 17 that have been stacked on the round cage stacking rack 7. The handle of the last round cage 17 is in an elevated state, and the staff can transfer the stacked round cages 17 as a whole to a suitable place for proofing for secondary fermentation.

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

[0023] like Figure 3 As shown, a lead screw is provided inside the Z-axis linear slide rail 41. The top of the second clamping cylinder 44 is threadedly connected to the lead screw. The motor 46 drives the lead screw to rotate, causing the two second clamping cylinders 44 to move relative to each other or back to back. When moving relative to each other, the second gripper 45 can extend and retract into the first gripper 43, so that the overall clamping length of the first gripper 43 and the second gripper 45 increases or decreases. The first cylinder 42 and the second cylinder 44 are both rodless cylinders with double slider guide rails, used to control the clamping and releasing of the grippers.

[0024] The workbench 6 is provided with two slide rails 10, which extend to the base 8. A slide plate 11 is slidably connected to the two slide rails 10. The slide plate 11 has a through hole 12 that allows the tray 92 to pass through. A telescopic cylinder 13 is provided at one end of the workbench 6 away from the base 8. The extended 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 plate 11. 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 and pass through the through hole 12 to lift the round cage 17. The telescopic cylinder 13 retracts, driving the slide plate 11 back to the worktable 6 to wait for the next round cage 17.

[0026] The end of the slide plate 11 is provided with a positioning block 14, and a positioning groove 15 is provided on the positioning block 14 to accommodate the handle of the round cage 17.

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

[0028] Each of the circular cage stacking racks 7 is provided with a support plate 16 that supports the circular cage 17.

[0029] like Figure 5 As shown, the support plate 16 is used to support the handle of the round cage 17 and to lift 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 cage 17 from slipping off the support plate 16.

[0032] The drive mechanism 9 also includes a sleeve 93 and a support shaft 94. The support shaft 94 is fitted inside the sleeve 93. The tray 92 is set on the top of the support shaft 94. A parallelogram-shaped groove 95 is formed on the inner wall of the sleeve 93. Each of the four side grooves of the groove 95 is provided with a stepped protrusion 96. A sliding hole is formed on the outer wall of the support shaft 94. A sliding column 97 is connected to the sliding hole through a spring 98. The end of the sliding column 97 away from the spring 98 is located in the 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, the base 8 has an installation cavity, the sleeve 93 is fixed in the installation cavity, and the hydraulic cylinder 91 is installed at the bottom of the cavity through bolts. The piston rod end of the hydraulic cylinder 91 is rotatably mounted at the bottom of the support shaft 94 through a bearing. The sliding column 97 slides along the sliding groove 95 in the sliding groove 95. The end of the sliding column 97 can slide along the stepped protrusion 96 at the bottom of the sliding groove 95. Under the elastic action of the spring 98, when the sliding column 97 runs to the high position of the stepped protrusion 96, the sliding column 97 will retract into the sliding hole by a part. When it runs to the low position, it can be reset, which can ensure that the sliding column 97 slides unidirectionally in the sliding groove 95. The parallelogram structure of the sliding groove 95 allows the sliding column 97 to drive the support shaft 94 to move along the sliding groove 95 and to reset the sliding column 97 to its original position.

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

[0035] like Figure 7 As shown, in the vertical structure, when the sliding column 97 slides in one vertically opened side groove, it controls the support shaft 94 to rise; when the sliding column 97 slides in the other vertically opened side groove, the support column 94 descends; when the sliding column 97 slides in one inclined side groove, the support column 94 rotates and rises; when the sliding column 97 slides in the other inclined side groove, the support column 94 rotates and descends. The overall movement process of the support shaft 94 is as follows: the support shaft 94 first rises, then rotates 90° and rises again, then descends, and finally descends again, while simultaneously rotating 90° in the opposite direction during the descent to return the support shaft 94 to its original position, and then repeats the above movement.

[0036] The method for arranging a round cage using an automatic cage arranging device includes the following steps: ① For ease of description, the upper grate of the round cage 17 is evenly divided into seven rows, A, B, C, D, E, F, and G, from front to back, as follows: Figure 10As shown, the number of steamed bun dough pieces arranged in seven rows gradually decreases from the middle to both sides. First, place the round cage 17 on the slide plate 11. When placing it, make sure to position one handle on the round cage 17 in the positioning groove 95. At this time, the two handles of the round cage 17 are parallel to the stacking rack 7. Then start the steamed bun dough production line, X-axis motion module 2, Y-axis motion module 3 and Z-axis motion module 4. ② Start motor 46. Motor 46 controls the two second clamping mechanisms to move backward, expanding the clamping length. The first and second clamping mechanisms synchronously clamp the steamed bun dough on conveyor belt 5 and place the steamed bun dough on row D along the X-axis motion module 2 and Y-axis motion module 3. Then, the first and second clamping mechanisms return to above conveyor belt 5. During the return process, motor 46 controls the second clamping mechanisms to move relative to each other, shortening the clamping length, and then clamping the steamed bun dough again, placing the steamed bun dough on row C or row E along the X-axis motion module 2 and Y-axis motion module 3. The first and second clamping mechanisms continue to return to the top of the conveyor belt 5 to wait for the steamed bun dough. During the return process, the motor 46 controls the second clamping mechanism to move backward, thereby increasing the clamping length. The first and second clamping mechanisms clamp the steamed bun dough and move along the X-axis motion module 2 and the Y-axis motion module 3. The steamed bun dough clamped by the first clamping mechanism is first placed on row A or row G. At this time, the first gripper of the first clamping mechanism is in an idle state. Then, the motor 46 controls the second clamping mechanism to move in the direction of the first clamping mechanism and place the steamed bun dough on row B or row F along the X-axis motion module 2. ③ The round cage 17 filled with steamed bun dough from step ② is pushed to the top of the tray 92 by the telescopic cylinder 13, and the hydraulic cylinder 91 is activated. The hydraulic cylinder 91 extends and pushes the support shaft 94 to extend along the direction of the sleeve 93. During the extension, the sliding column 97 slides along the slide groove 95 of the parallelogram mechanism. The support shaft 94 first lifts the round cage 17, and the hydraulic cylinder 91 continues to push the support shaft 94 upward. During the upward movement, the round cage 17 on the tray 92 rotates 90° so that the handle on the round cage 17 is directly above the support plate 16. Then, the hydraulic cylinder 91 is controlled to retract, and the tray 92 first descends, with the handle positioned on the support plate 16. The hydraulic cylinder 91 continues to retract, and the tray 92 descends again. During the descent, it rotates 90° in the opposite direction to reset the support shaft 94. This cycle repeats, with the next cage lifting the previous cage so that the handle of the next cage is placed on the support plate 16. The previous cage is stacked on top of the next cage, completing the stacking of multiple cages 17. When a certain number are stacked, the last cage lifts the previous cage on the support plate 16 together, and then rotates while lifting, so that the handle of the last cage 17 is in an elevated state. The workers then transfer the stacked cages 17 as a whole to a suitable place for secondary fermentation.

[0037] Example 2: If the number of steamed bun dough pieces arranged in seven rows on the 17-grip of the round cage is 3, 6, 7, 8, 7, 6, 3 respectively from front to back, and the lengths of the first gripper 43 and the second gripper 45 are the same, when arranging the cage, if in the initial state the gripping lengths of the first gripper 43 and the second gripper 45 are at their longest, and the first gripper 43 and the second gripper 45 grip the same number of steamed bun dough pieces (3 each), and the conveyor belt 5 continuously transports the steamed bun dough pieces, the two second grippers 45 move relative to each other, and the first gripper 43 and the second gripper 45 grip 2 and 3 steamed bun dough pieces respectively. The dough buns are moved towards the circular cage 17 and placed on row D of the circular cage 17. The first gripper 43 and the second gripper 45 return towards the conveyor belt 5. During the return, the two second grippers 45 continue to move relative to each other. The first gripper 43 and the second gripper 45 hold 1 and 3 dough buns respectively and move towards the circular cage 17 and place them on row E of the circular cage 17. The first gripper 43 and the second gripper 45 return towards the conveyor belt 5. During the return, the two second grippers 45 move back to their initial state. Each claw 45 holds three steamed bun dough pieces and moves them towards the circular cage 17. The steamed bun dough pieces held by the first claw 43 are placed on row G of the circular cage 17. The first claw 43 and the second claw 45 move towards row F of the circular cage 17. During the movement, the two second claws 45 move relative to each other and enter the first claw 43, and are then placed on row F. Subsequently, the first claw 43 and the second claw 45 move towards the conveyor belt 5, while the two second claws 45 move away from each other. The first claw 43 and the second claw 45 hold two and three steamed bun dough pieces respectively. The dough is placed on row C, and the same operation as placing it on rows E, G, and F is performed. The dough is then placed on rows C, A, and B in sequence. In the process of placing the dough on the round cage 17, the conventional method of placing the 7 rows of dough requires taking the dough seven times and placing it seven times. In this embodiment, it only requires taking the dough five times and placing it seven times. In the traditional method of taking one row and placing it one row at a time, the conveyor belt 5 cannot be conveyed too fast, otherwise the dough will accumulate on the conveyor belt 5. Therefore, compared with the traditional method of placing the dough, the present invention can greatly shorten the time of placing the dough and improve the production efficiency.

[0038] The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which this invention pertains may make various modifications or additions to the described specific embodiments or use similar methods to replace them, without departing from the spirit of the invention or exceeding the scope defined by the appended claims.

Claims

1. An automatic cage-swinging device for a round cage, comprising a round cage (17), a column (1), an X-axis motion module (2) disposed on the top of the column (1), and a Y-axis motion module (3) mounted on the X-axis motion module (2), wherein a Z-axis motion module (4) is connected to the bottom of the Y-axis motion module (3), and a conveyor belt (5) is provided at the bottom of the Z-axis motion module (4), characterized in that: The Z-axis motion module (4) includes a Z-axis linear slide rail (41) and a first clamping mechanism located at the bottom of the Z-axis linear slide rail (41). A second clamping mechanism is provided on both sides of the Z-axis linear slide rail (41) and located on both sides of the first clamping mechanism. The second clamping mechanism can slide into the first clamping mechanism. A workbench (6) for placing a circular cage (17) is provided on one side of the conveyor belt (5). Two circular cage stacking racks (7) are symmetrically arranged on one side of the workbench (6). A base (8) is provided between the two circular cage stacking racks (7). A drive mechanism (9) for lifting the circular cage (17) and placing it on the circular cage stacking rack (7) is provided inside the base (8). The drive mechanism (9) includes a hydraulic cylinder (91) and a tray (92). When the hydraulic cylinder (91) extends, it forms a structure where the circular cage (17) on the tray (92) first rises and then rotates upwards. When the hydraulic cylinder (91) retracts... When compressed, it can form a structure in which the tray (92) first descends and then rotates in the opposite direction to descend; the drive mechanism (9) also includes a sleeve (93) and a support shaft (94). The support shaft (94) is fitted inside the sleeve (93). The tray (92) is set on the top of the support shaft (94). A parallelogram-shaped groove (95) is opened on the inner wall of the sleeve (93). Each of the four side grooves of the groove (95) is provided with a stepped protrusion (96). A sliding hole is opened on the outer wall of the support shaft (94). A sliding column (97) is connected to the sliding hole by a spring (98). The end of the sliding column (97) away from the spring (98) is located in the groove (95). The bottom of the support shaft (94) is rotatably connected to the piston rod of the hydraulic cylinder (91). The two side grooves of the groove (95) with parallel sides are opened vertically, and the other two side grooves of the groove (95) are opened inclined upwards.

2. The automatic cage-swinging device for round cages according to claim 1, characterized in that: The first clamping mechanism includes a first clamping cylinder (42) and a first gripper (43), and the second clamping mechanism includes a second clamping cylinder (44) and a second gripper (45). One end of the Z-axis linear slide rail (41) is provided with a motor (46) that drives the two second clamping cylinders (44) to move relative to each other or back to back.

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

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

5. The automatic cage-swinging device for round cages according to claim 1, characterized in that: Each of the circular cage stacking racks (7) is provided with a support plate (16) supporting the circular cage (17).

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

7. The cage-swinging method of the automatic cage-swinging device for round cages according to any one of claims 1-6, characterized in that: The operation steps include: ① Divide the grate plate of the round cage (17) into seven rows A, B, C, D, E, F and G from front to back. The number of steamed buns placed in the seven rows gradually decreases from the middle to the two sides. First, place the round cage (17) on the slide plate (11) and start the X-axis motion module (2), Y-axis motion module (3) and Z-axis motion module (4). ② Start the motor (46). The motor (46) controls the two second clamping mechanisms to move backward. The first clamping mechanism and the second clamping mechanism simultaneously clamp the steamed bun dough on the conveyor belt (5) and place the steamed bun dough on row D 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). At the same time, the motor (46) controls the second clamping mechanism to move relative to each other, and then clamp the steamed bun dough and place it on row D along the X-axis motion module (2) and the Y-axis motion module (3). The dough 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 backward. The first clamping mechanism and the second clamping mechanism clamp the dough along the X-axis movement module (2) and the Y-axis movement module (3) to place the dough clamped by the first clamping mechanism on row A or row G. Then the motor (46) controls the second clamping mechanism to move relative to each other and place the dough on row B or row F along the X-axis movement module (2). ③ Push the round cage (17) filled with steamed bun dough from 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) and 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 directly above the support plate (16). The hydraulic cylinder (91) retracts, the tray (92) descends, and the handle is on the support plate (16). The hydraulic cylinder (91) continues to retract, the tray (92) descends and rotates in the opposite direction to reset. This cycle repeats, and the next round cage lifts the previous round cage, so that the handle of the next round cage is placed on the support plate (16), thus completing the stacking of multiple round cages (17).

8. The cage-swinging method of the automatic cage-swinging device for round cages according to claim 7, characterized in that: Step ① When placing the cage, place one handle on the round cage (17) into the positioning groove (95) for positioning.

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