In the production process of baking food processing enterprises, cakes, biscuits and other products made by steaming are generally installed in the baking tray and baked in the oven. The temperature of the baking tray is above 100 degrees Celsius when leaving the oven. The high temperature environment is not conducive to the protection of workers. It needs to be left to cool and then be transported, so the production efficiency is low. In order to solve this problem, a method of replacing the manual handling of the baking tray and removing the baked cake product with a turning robot is proposed. At the same time, two methods for improving the design of the cake production line are given, and the structure and use of the two products of the single-column turning manipulator and the articulated turning manipulator are introduced. The single-column turning manipulator consists of a base, a single-column rotating mechanism, a lifting mechanism, a swing arm, a pneumatic gripping mechanism, etc. A frame-type pneumatic gripping mechanism is adopted, and driven by the turning motor, and can realize the turning of the baking tray. The articulated turning manipulator consists of a base, a waist, a big arm, a small arm, a wrist, and a hand actuator. The hand adopts a rotatable square shaft end structure with an electromagnetic device, transforming the cake baking tray to increase the square groove meshed with it, so as to realize the flipping action of the cake baking tray.