Crutch candy leftover material online recycling, melting and recombining equipment and using method thereof

Abstract

The invention relates to crutch candy leftover material online recycling, melting and recombining equipment and a using method thereof, and belongs to the technical field of candy processing equipment.The crutch candy leftover material online recycling, melting and recombining equipment comprises a crutch candy discharging conveying belt, an infrared sensor, a six-axis cooperation suction cup clamping jaw machine arm, a material conveying conveying belt, a crushing barrel, an anti-sticking conveying belt, a melting module, a discharging conveying belt, a shock cooling device and a recombining mold; the infrared sensor and the six-axis cooperation suction cup clamping jaw robot arm are arranged on the two sides of the crutch candy discharging conveying belt, and the crutch candy discharging conveying belt is attached to the conveying conveying belt. According to the invention, the problems of waste of waste materials, secondary pollution and high labor cost in the traditional process can be solved, real-time recovery and recombination of crutch candy leftover materials in the production process are realized through integrated design of the online crushing, melting, filtering, forming and cooling modules, and the purity of recovered syrup is ensured to reach the food-grade standard.

Description

Technical Field

[0001] The present invention relates to the technical field of candy processing equipment, and particularly to an online recycling, melting and recombination device for candy cane scraps and a using method thereof. Background Art

[0002] Candy canes are a traditional holiday candy, especially popular during Christmas. During production and processing, raw materials first need to be pretreated and mixed. Granulated sugar, corn syrup, and water are automatically mixed in a preset ratio through a pipeline weighing system, and then continuous high-temperature sugar boiling is carried out. The sugar solution enters a continuous vacuum sugar boiling machine and is rapidly dehydrated at 120°C to 150°C, precisely controlled to the hard crack stage. Finally, through automated color mixing and aeration, mechanical embossing and layering, high-speed shaping and setting, the processing can be completed.

[0003] In traditional candy cane production, about 8%-15% of the sugar body becomes scraps due to cutting and shaping, usually discarded or recycled offline, and there will also be color deviation, stripe breakage or shape defects. To facilitate the recycling and treatment of the scraps, an online recycling, melting and recombination device for candy cane scraps and a using method thereof are now proposed, which can solve the problems of waste of waste materials, secondary pollution and high labor costs in the traditional process. Through the integrated design of online crushing, melting, filtering, shaping and cooling modules, the real-time recycling and recombination of candy cane scraps during the production process are realized, ensuring that the purity of the recycled syrup reaches food-grade standards. Summary of the Invention

[0004] The present invention provides an online recycling, melting and recombination device for candy cane scraps and a using method thereof, which can solve the problems of waste of waste materials, secondary pollution and high labor costs in the traditional process. Through the integrated design of online crushing, melting, filtering, shaping and cooling modules, the real-time recycling and recombination of candy cane scraps during the production process are realized.

[0005] The solution of the present invention to the above technical problems is as follows: An online recycling and melting recombination device for lollipop scraps, comprising a lollipop discharging conveyor belt, an infrared sensor, a six-axis collaborative suction cup gripper robotic arm, a material transfer conveyor belt, a crushing cylinder, an anti-sticking conveyor belt, a melting module, a discharging conveyor belt, a quenching device, and a recombination mold. The infrared sensor and the six-axis collaborative suction cup gripper robotic arm are placed on both sides of the lollipop discharging conveyor belt. The lollipop discharging conveyor belt is in contact with the material transfer conveyor belt. The end of the material transfer conveyor belt corresponds to the crushing cylinder. The crushing cylinder is rotatably connected with a crushing roller. The surface of the anti-sticking conveyor belt is coated with a food-grade polytetrafluoroethylene (PTFE) coating. The crushing cylinder is provided with a load-bearing base. The load-bearing base is evenly and fixedly provided with vibration springs. The vibration springs are fixedly provided with a screening mesh. The screening mesh is fixedly provided with a vibration motor. The crushing cylinder is connected to the anti-sticking conveyor belt. The end of the anti-sticking conveyor belt is connected to the melting module. The melting module is provided with a heating chamber. The melting module is fixedly provided with a centrifugal motor. The driving end of the centrifugal motor is connected with a driving shaft. The driving shaft is evenly and fixedly provided with stainless steel filter meshes. The melting module is communicated with a discharging valve. The discharging valve is connected to the discharging conveyor belt. The quenching device is provided with a liquid nitrogen spraying module and an air-cooling module;

[0006] The usage method includes the following steps:

[0007] S1: Online recycling of lollipop scraps: Data collection and preprocessing are carried out on the materials conveyed at the top of the lollipop discharging conveyor belt 1 through the infrared sensor. The infrared sensor outputs an RGB-D image. The conveyor belt background and the scrap target are separated by the dynamic threshold segmentation method (Otsu algorithm). The conveyor belt background and the scrap target are separated by the dynamic threshold segmentation method (Otsu algorithm). Combining the depth map and the detection frame, the target center coordinates (x, y, z) and Euler angles (θ_x, θ_y, θ_z) are calculated through the ICP (Iterative Closest Point) algorithm. The RRT (Rapidly-Exploring Random Tree) algorithm is used to generate a collision-free path. The conveyor belt motion compensation is dynamically updated. Based on the DH parameters of the robotic arm, the joint angles are calculated through the inverse kinematics (IK) solver. The principal component analysis (PCA) is carried out on the target point cloud to determine the largest projection plane as the adsorption plane. The suction cup negative pressure (0.5 - 1.2 bar) is dynamically adjusted according to the target weight (volume estimation). The force sensor provides real-time feedback to ensure stable adsorption. Under the positioning and resolution of the infrared sensor, the six-axis collaborative suction cup gripper robotic arm can stably transfer the scraps into the material transfer conveyor belt, and the material transfer conveyor belt can transfer the picked-out scraps into the crushing cylinder;

[0008] S2: Scrap is crushed and then conveyed by a conveyor belt to the melting module: The scrap is conveyed into the crushing cylinder, and the receiving gears on both sides of the crushing rollers are meshed and connected, so that the driving motor can drive the crushing rollers on both sides to rotate in the crushing cylinder, thereby crushing the passing scrap. Starting the vibrating motor can drive the screening mesh on the top of the vibrating spring to vibrate and screen the crushed cane sugar scrap. Through crushing and screening, the scrap is crushed into uniform particles with a particle size ≤ 5 mm, and the screened materials can be conveyed into the melting module through the anti-sticking conveyor belt;

[0009] S3: Melting the sugar material under nitrogen protection and removing impurities through dynamic filtration: Nitrogen is introduced into the melting module 7, and starting the centrifugal motor can drive the stainless steel filter screen at the driving shaft to rotate. The melting temperature of the melting module 7 is controlled at 120 - 140 °C ± 2 °C, so that the syrup can be dynamically filtered by centrifugal force under nitrogen protection to remove impurities;

[0010] S4: Injecting the pure syrup into the molding die and performing double cooling and shaping: The pure syrup after removing impurities can be conveyed into the recombined die on the discharge conveyor belt. The quenching device can cool the sugar body passing through the die at the bottom through the liquid nitrogen spray module and the air cooling module, so that the sugar body can be cooled to below 30 °C within 10 seconds;

[0011] S5: Removing the finished products in the die and recycling the die: Collect the cooled sugar body finished products in the recombined die, and place a new recombined die at one end for recycling.

[0012] On the basis of the above technical solutions, the present invention can also be improved as follows.

[0013] Further, receiving gears are fixedly installed on both sides of the crushing rollers, the receiving gears on both sides are meshed and connected, and a driving motor is fixedly installed on the crushing cylinder. The driving end of the driving motor is connected to the crushing roller, so that the driving motor can drive the two crushing rollers to rotate synchronously, thereby crushing the passing cane sugar scrap.

[0014] Further, the melting temperature of the heating chamber is controlled at 120 - 140 °C ± 2 °C, and the heating chamber can melt and process the passing scrap.

[0015] Further, multiple groups of stainless steel filter screens are provided, and the mesh numbers are 25, 50, 100, and 200 respectively. The multiple groups of stainless steel filter screens can perform grading screening on the crushed scrap.

[0016] Further, the recombined die is evenly placed at the discharge conveyor belt, and partition bars are evenly installed on the recombined die, so that the recombined die can be evenly placed at the discharge conveyor belt.

[0017] Further, in S1: The output RGB-D image is subjected to noise filtering. When detecting and positioning the scrap targets, an improved Mask R-CNN model (lightweight ResNet-18 backbone) is used for target recognition, and the training dataset contains 100,000 irregular sugar cube images.

[0018] The beneficial effects of the present invention are as follows: The present invention provides an online recycling, melting and recombination device for candy cane scraps and its usage method, which has the following advantages:

[0019] 1. A six-axis collaborative suction cup gripper robotic arm equipped with an infrared sensor can perform principal component analysis (PCA) on the target point cloud, determine the largest projection plane as the adsorption plane, dynamically adjust the suction cup negative pressure (0.5 - 1.2 bar) according to the target weight (estimated by volume), and the force sensor provides real-time feedback to ensure stable adsorption. Under the positioning and resolution function of the infrared sensor, the six-axis collaborative suction cup gripper robotic arm can stably pick out and load the scraps precisely.

[0020] 2. A crushing module is provided to crush the scraps into uniform particles with a particle size ≤ 5 mm, which is convenient for remelting. Under nitrogen protection, the syrup is dynamically filtered by centrifugal force to remove impurities, enabling the rapid recombination and processing of the candy cane scraps.

[0021] 3. Such an online recycling, melting and recombination device for candy cane scraps can solve the problems of waste material waste, secondary pollution and high labor costs in the traditional process. Through the integrated design of the online crushing, melting, filtering, forming and cooling modules, the real-time recycling and recombination of the candy cane scraps during the production process are realized, ensuring that the purity of the recycled syrup reaches the food-grade standard.

[0022] The above description is only an overview of the technical solution of the present invention. In order to understand the technical means of the present invention more clearly and implement it according to the content of the specification, the following provides a detailed description of the preferred embodiments of the present invention in conjunction with the drawings. The specific implementation manners of the present invention are given in detail by the following embodiments and their accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The drawings described herein are used to provide a further understanding of the present invention, form a part of this application, and the illustrative embodiments and descriptions of the present invention are used to explain the present invention and do not constitute an improper limitation to the present invention. In the drawings:

[0024] Figure 1 is a schematic structural diagram of an online recycling, melting and recombination device for candy cane scraps and its usage method provided by an embodiment of the present invention;

[0025] Figure 2A schematic diagram of the structure of a crushing roller in an online recycling, melting and reorganization device for candy cane scraps and a method for using the same provided in one embodiment of the present invention;

[0026] Figure 3 A method flow chart of an online recovery, melting and reorganization device for candy cane scraps and a method of using the same provided in one embodiment of the present invention.

[0027] In the accompanying drawings, the components represented by the reference numerals are listed as follows:

[0028] 1. Candy cane discharging conveyor belt; 2. Infrared sensor; 3. Six-axis cooperative suction cup gripper robot arm; 4. Transfer conveyor belt; 5. Crushing cylinder; 6. Anti-sticking conveyor belt; 7. Melting module; 8. Discharge conveyor belt; 9. Quenching device; 10. Reconstruction mold; 11. Crushing roller; 12. Undertaking gear; 13. Drive motor; 14. Load-bearing base; 15. Vibration spring; 16. Screening net; 17. Vibration motor; 18. Heating chamber; 19. Centrifugal motor; 20. Drive shaft; 21. Stainless steel filter; 22. Discharge valve; 23. Partition bar; 24. Liquid nitrogen spray module; 25. Air cooling module. DETAILED DESCRIPTION

[0029] The following is combined with Figures 1-3 The principles and features of the present invention are described, and the examples are only used to explain the present invention and are not used to limit the scope of the present invention. In the following paragraphs, the present invention is described in more detail by way of example with reference to the accompanying drawings. The advantages and features of the present invention will become clearer according to the following description and claims. It should be noted that the drawings are all in a very simplified form and are not in precise proportions, and are only used to facilitate and clearly assist in explaining the purpose of the embodiments of the present invention.

[0030] It should be noted that when a component is referred to as being "fixed to" another component, it may be directly on the other component or there may also be a component centered. When a component is considered to be "connected to" another component, it may be directly connected to the other component or there may also be a component centered. When a component is considered to be "set on" another component, it may be directly set on the other component or there may also be a component centered. The terms "vertical", "horizontal", "left", "right" and similar expressions used herein are for illustrative purposes only.

[0031] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0032] As shown Figures 1-3 , the present invention provides an online recycling and melting recombination device for lollipop scraps, including a lollipop discharge conveyor belt 1, an infrared sensor 2, a six-axis collaborative suction cup gripper robotic arm 3, a material transfer conveyor belt 4, a crushing cylinder 5, an anti-sticking conveyor belt 6, a melting module 7, a discharge conveyor belt 8, a rapid cooling device 9, and a recombination mold 10. The infrared sensor 2 and the six-axis collaborative suction cup gripper robotic arm 3 are placed on both sides of the lollipop discharge conveyor belt 1. The lollipop discharge conveyor belt 1 is in contact with the material transfer conveyor belt 4. The terminal of the material transfer conveyor belt 4 corresponds to the crushing cylinder 5. The crushing cylinder 5 is rotatably connected with a crushing roller 11. The surface of the anti-sticking conveyor belt 6 is coated with a food-grade polytetrafluoroethylene (PTFE) coating. The crushing cylinder 5 is equipped with a load-bearing base 14. The load-bearing base 14 is evenly and fixedly installed with vibration springs 15. The vibration springs 15 are fixedly installed with a screening mesh 16. The screening mesh 16 is fixedly installed with a vibration motor 17. The crushing cylinder 5 is connected to the anti-sticking conveyor belt 6. The end of the anti-sticking conveyor belt 6 is connected to the melting module 7. The melting module 7 is provided with a heating chamber 18. The melting module 7 is fixedly installed with a centrifugal motor 19. The driving end of the centrifugal motor 19 is connected to a driving shaft 20. The driving shaft 20 is evenly and fixedly installed with stainless steel filter meshes 21. The melting module 7 is communicated with a discharge valve 22. The discharge valve 22 is connected to the discharge conveyor belt 8. The rapid cooling device 9 is provided with a liquid nitrogen spraying module 24 and an air cooling module 25.

[0033] Furthermore, receiving gears 12 are fixedly installed on both sides of the crushing rollers 11. The receiving gears 12 on both sides are meshed and connected. The crushing cylinder 5 is fixedly installed with a driving motor 13. The driving end of the driving motor 13 is connected to the crushing roller 11, so that the driving motor 13 can synchronously drive the crushing rollers 11 on both sides to rotate, thereby crushing the lollipop scraps passing through.

[0034] Furthermore, the melting temperature of the heating chamber 18 is controlled at 120 - 140 °C ± 2 °C, and the heating chamber 18 can melt and process the scraps passing through.

[0035] Furthermore, multiple groups of stainless steel filter meshes 21 are provided, and the mesh numbers are 25, 50, 100, and 200 respectively. The multiple groups of stainless steel filter meshes 21 can classify and screen the crushed scraps.

[0036] Furthermore, the recombination molds 10 are evenly placed at the discharge conveyor belt 8. Partition bars 23 are evenly installed on the recombination molds 10, so that the recombination molds 10 can be evenly placed at the discharge conveyor belt 8.

[0037] The specific working principle and usage method of the present invention are as follows:

[0038] S1: Online recycling of candy cane scraps: Data collection and preprocessing of the materials transported on the top of the candy cane discharging conveyor belt 1 are performed through infrared sensor 2. Infrared sensor 2 outputs RGB-D images. The conveyor belt background and scrap targets are separated by the dynamic threshold segmentation method Otsu algorithm. The dynamic threshold segmentation method Otsu algorithm separates the conveyor belt background and scrap targets. Combined with the depth map and the detection frame, the target center coordinates (x, y, z) and Euler angles (θ_x, θ_y, θ_z) are calculated by the ICP iterative closest point algorithm. The RRT fast extended random tree algorithm is used to generate a collision-free path. The conveyor belt motion compensation is dynamically updated. Based on the DH parameters of the robot arm, the inverse kinematics IK solver is used to calculate the angles of each joint. The target point cloud is subjected to principal component analysis PCA to determine the maximum projection surface as the adsorption plane. The suction cup negative pressure is dynamically adjusted to 0.5~1.2bar according to the target weight and volume estimation. The force sensor provides real-time feedback to ensure stable adsorption. The output RGB-D image is noise filtered. The improved Mask is used for scrap target detection and positioning. The lightweight ResNet-18 backbone of the R-CNN model is used for target recognition. The training data set contains 100,000 images of irregular sugar blocks. Under the positioning and resolution of the infrared sensor 2, the six-axis collaborative suction cup gripper robot arm 3 can stably transfer the scraps to the conveyor belt 4, and the conveyor belt 4 can transfer the selected scraps to the crushing barrel 5.

[0039] S2: The scraps are crushed and then conveyed to the melting module by the conveyor belt: The scraps are conveyed to the crushing drum 5, and the receiving gears 12 of the crushing rollers 11 on both sides are meshed and connected, so that the driving motor 13 can drive the crushing rollers 11 on both sides to rotate in the crushing drum 5, so that the scraps passing through can be crushed, and the vibration motor 17 can be started to drive the screening net 16 on the top of the vibration spring 15 to vibrate and screen the crushed candy cane scraps. The scraps are crushed into uniform particles with a particle size of ≤5mm through crushing and screening, and the screened materials can be conveyed to the melting module 7 through the anti-sticking conveyor belt 6;

[0040] S3: Melting sugar material under nitrogen protection, and removing impurities through dynamic filtration: nitrogen is introduced into the melting module 7, and the centrifugal motor 19 is started to drive the stainless steel filter 21 at the driving shaft 20 to rotate. The melting temperature of the melting module 7 is controlled at 120-140°C ± 2°C, so that the syrup can be dynamically filtered by centrifugal force under nitrogen protection to remove impurities;

[0041] S4: Pure syrup is injected into the molding mold and double cooled to shape: the pure syrup with impurities removed can be transferred to the reorganization mold 10 of the discharge conveyor belt 8, and the quenching device 9 can cool the sugar body passing through the bottom of the mold through the liquid nitrogen spray module 24 and the air cooling module 25, so that the sugar body can be cooled to below 30°C within 10 seconds;

[0042] S5: Removing the finished product in the mold and recycling the mold: Collect the cooled sugar body finished product in the reorganized mold 10, and place a new reorganized mold 10 at one end for recycling.

[0043] It should be noted that in this text, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. The content not described in detail in this specification belongs to the prior art well known to those skilled in the art.

[0044] The above is only the preferred embodiment of the present invention, and does not impose any form of limitation on the present invention; any ordinary technician in the industry can smoothly implement the present invention according to the illustrations in the specification and the above description; however, any slight changes, modifications, and equivalent changes made by those skilled in the art within the scope of the technical solution of the present invention using the technical content disclosed above are all equivalent embodiments of the present invention; at the same time, any equivalent changes, modifications, and evolutions made to the above embodiments based on the essence of the present invention still fall within the protection scope of the technical solution of the present invention.

Claims

1. An online recycling, melting and recombination device for lollipop scraps, comprising a lollipop discharge conveyor belt (1), an infrared sensor (2), a six-axis collaborative suction cup gripper robotic arm (3), a material transfer conveyor belt (4), a crushing cylinder (5), an anti-sticking conveyor belt (6), a melting module (7), a discharge conveyor belt (8), a quenching device (9), and a recombination mold (10), characterized in that: The infrared sensor (2) and the six-axis collaborative suction cup gripper robotic arm (3) are placed on both sides of the lollipop discharging conveyor belt (1). The lollipop discharging conveyor belt (1) is in contact with the material conveying conveyor belt (4). The terminal of the material conveying conveyor belt (4) corresponds to the crushing cylinder (5). The crushing cylinder (5) is rotatably connected with a crushing roller (11). The surface of the anti-sticking conveyor belt (6) is coated with a food-grade polytetrafluoroethylene (PTFE) coating. The crushing cylinder (5) is equipped with a load-bearing base (14). The load-bearing base (14) is uniformly and fixedly installed with vibration springs (15). The vibration springs (15) are fixedly installed with a screening mesh (16). The screening mesh (16) is fixedly installed with a vibration motor (17). The crushing cylinder (5) is connected to the anti-sticking conveyor belt (6). The end of the anti-sticking conveyor belt (6) is connected to the melting module (7). The melting module (7) is provided with a heating chamber (18). The melting module (7) is fixedly installed with a centrifugal motor (19). The driving end of the centrifugal motor (19) is connected with a driving shaft (20). The driving shaft (20) is uniformly and fixedly installed with stainless steel filter meshes (21). The melting module (7) is communicated with a discharge valve (22). The discharge valve (22) is connected to the discharge conveyor belt (8). The rapid cooling device (9) is provided with a liquid nitrogen spraying module (24) and an air cooling module (25); The usage method includes the following steps: S1: On-line recycling of lollipop scraps: Data collection and preprocessing are carried out on the materials conveyed on the top of the lollipop discharging conveyor belt 1 by the infrared sensor 2. The infrared sensor 2 outputs an RGB-D image. The conveyor belt background and the scrap target are separated by the dynamic threshold segmentation method (Otsu algorithm). The conveyor belt background and the scrap target are separated by the dynamic threshold segmentation method (Otsu algorithm). Combining the depth map and the detection frame, the target center coordinates (x, y, z) and Euler angles (θ_x, θ_y, θ_z) are calculated by the ICP (Iterative Closest Point) algorithm. The RRT (Rapidly-Exploring Random Tree) algorithm is used to generate a collision-free path, and the conveyor belt motion compensation is dynamically updated. Based on the DH parameters of the robotic arm, the joint angles are calculated by the inverse kinematics (IK) solver. Principal component analysis (PCA) is carried out on the target point cloud to determine the largest projection plane as the adsorption plane. The suction cup negative pressure (0.5 - 1.2 bar) is dynamically adjusted according to the target weight (volume estimation). The force sensor provides real-time feedback to ensure stable adsorption. Under the positioning and resolution of the infrared sensor 2, the six-axis collaborative suction cup gripper robotic arm 3 can stably transfer the scraps into the material conveying conveyor belt 4, and the material conveying conveyor belt 4 can transfer the picked scraps into the crushing cylinder 5; S2: Scrap crushing, and then conveyed to the melting module by a conveyor belt: The scrap is conveyed into the crushing cylinder 5. The receiving gears 12 on both sides of the crushing rollers 11 are meshed and connected, so that the driving motor 13 can drive the crushing rollers 11 on both sides to rotate in the crushing cylinder 5, thereby crushing the passing scrap. Starting the vibration motor 17 can drive the screening net 16 at the top of the vibration spring 15 to vibrate and screen the crushed cane sugar scrap. Through crushing and screening, the scrap is crushed into uniform particles with a particle size ≤ 5 mm. The screened materials can be conveyed into the melting module 7 through the anti-sticking conveyor belt 6; S3: Melting the sugar material under nitrogen protection and removing impurities through dynamic filtration: Nitrogen is introduced into the melting module 7. Starting the centrifugal motor 19 can drive the stainless steel filter screen 21 at the driving shaft 20 to rotate. The melting temperature of the melting module 7 is controlled at 120 - 140 °C ± 2 °C, so that the syrup can be dynamically filtered by centrifugal force under nitrogen protection to remove impurities; S4: Injecting the pure syrup into the molding die and performing double cooling and shaping: The pure syrup after removing impurities can be conveyed into the recombined die 10 of the discharge conveyor belt 8. The quenching device 9 can cool the sugar body passing through the bottom of the die through the liquid nitrogen spray module 24 and the air cooling module 25, so that the sugar body can be cooled to below 30 °C within 10 seconds; S5: Removing the finished product in the die and recycling the die: Collect the cooled sugar body finished product in the recombined die 10, and place a new recombined die 10 at one end for recycling.

2. The online recycling, melting and recombination equipment for the cane sugar scraps according to claim 1, wherein Both of the said crushing rollers (11) are fixedly installed with receiving gears (12). The receiving gears (12) on both sides are meshed and connected. The crushing cylinder (5) is fixedly installed with a driving motor (13). The driving end of the driving motor (13) is connected to the crushing roller (11).

3. The online recycling, melting and recombination equipment for the cane sugar scraps according to claim 1, characterized in that, The melting temperature of the heating chamber (18) is controlled at 120 - 140 °C ± 2 °C.

4. The online recycling, melting and recombination equipment for cane sugar scraps according to claim 1, characterized in that Multiple groups of the said stainless steel filter screens (21) are provided, and the mesh numbers are 25, 50, 100, and 200 respectively.

5. The online recycling, melting and recombination equipment for lollipop scraps according to claim 1, characterized in that, The recombined dies (10) are evenly placed at the discharge conveyor belt (8). The recombined dies (10) are evenly installed with partition bars (23).

6. The online recycling, melting and recombining device for the corner materials of rock candy according to claim 1, wherein, In S1: Noise filtering is performed on the output RGB-D image. When detecting and positioning the scrap target, an improved Mask R-CNN model (lightweight ResNet-18 backbone) is used for target recognition. The training data set contains 100,000 irregular sugar cube images.

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