Automatic vinasse removing system of filter press and control method of automatic vinasse removing system

Abstract

The invention discloses an automatic vinasse removing system of a filter press. The automatic vinasse removing system comprises the filter press (1) with a filter plate (12) and a vinasse removing device (6), the device is characterized by further comprising a movement track (2), the moving chassis (3) is mounted on the moving track (2) in a manner of moving back and forth; the camera (4) is used for shooting the surface of the filter plate (12); the mechanical arm (5) is mounted on the moving chassis (3), and the vinasse removing device (6) is mounted at the driving end of the mechanical arm (5); and the processor is used for identifying the area of the filter grains on the surface of the filter plate (12) according to the picture shot by the camera (4), controlling the mechanical arm (5) to drive the grain removal device (6) to move to the area of the filter grains and then controlling the grain removal device (6) to carry out grain removal operation. The invention further discloses a control method of the automatic vinasse removing system of the filter press. Compared with the prior art, the filter grain cleaning efficiency can be improved, and the surface damage of the filter plate is reduced.

Description

Technical Field

[0001] The invention relates to the technical field of filtering equipment, and in particular to an automatic dregs removal system for a filter press and a control method thereof. Background Art

[0002] As a solid-liquid separation equipment widely used in chemical, pharmaceutical, food and other industrial fields, the core function of the filter press is to separate the liquid from the solid material through pressure, so as to purify or concentrate the material. At present, the filter dregs of the filter press are usually discharged by the filter dregs themselves falling down for recycling. However, it cannot recycle the filter dregs quickly and effectively, and some of the filter dregs are stuck to the surface of the filter plate. If these residual filter dregs are not removed in time, they will not only occupy the effective filtration area of ​​the filter plate, affecting the subsequent filtration efficiency, but may also damage the surface of the filter plate and shorten its service life.

[0003] Traditionally, the removal of filter dregs mainly relies on manual operation, which not only consumes a lot of manpower and material resources, but also has low efficiency and cannot meet the needs of modern industrial production for efficient and continuous operation. More importantly, during the manual removal of filter dregs, operators need to directly contact the filter cloth and filter dregs, which not only increases labor intensity, but also poses greater safety hazards, such as hand injuries and chemical exposure.

[0004] To this end, the Chinese patent "A wine filter press for preparing yam wine" with patent application number CN202211238972.5 provides a wine filter press for preparing yam wine, including a base, a filter plate, a push plate, a scraping mechanism and a brushing mechanism. The upper left part of the base is slidably connected to a push plate, and the upper right part of the base is evenly slidably connected to thirteen filter plates. A filter cloth is fixed on each filter plate, and the filter plate and the filter cloth are removed and immersed in the wine body to pick up the lees for filtering. The lees are adhered to the filter plate, and the thirteen filter plates and the filter cloth are squeezed by moving the push plate to the right to squeeze the wine on the filter cloth to separate the liquid wine and the lees. A scraping mechanism is provided on the left side of the upper part of the base, and the lees are scraped off by the scraping mechanism up and down. A brushing mechanism is provided on the upper part of the scraping mechanism. While the scraping mechanism scrapes off the lees, the brushing mechanism brushes off the residual lees on the filter cloth.

[0005] However, the above solution has the following disadvantages:

[0006] First, for the filter press, after the unloading process is completed, the filter residue only remains in a local area on the filter plate surface. At this time, if the filter residue is removed uniformly on the entire filter plate surface, on the one hand, the filter residue removal efficiency is low, and on the other hand, the surface of the filter plate is severely damaged;

[0007] Second, in the above scheme, the angle between the scraper and the filter plate remains unchanged during the lifting process, but for the filter plate, the filter cloth or membrane on its surface will be sunken to form a curved surface, and the existing scraping mechanism cannot meet the needs of clearing the filter residue on the curved surface. Summary of the invention

[0008] The first technical problem to be solved by the present invention is to provide an automatic dregs removal system for a filter press that can improve the filter dregs removal efficiency and reduce the damage to the filter plate surface in view of the current status of the prior art.

[0009] The second technical problem to be solved by the present invention is to provide an automatic filter press dregs removal system that can meet the demand for removing filter dregs on a curved surface.

[0010] The third technical problem to be solved by the present invention is to provide a control method for the automatic dregs removal system of the filter press.

[0011] The technical solution adopted by the present invention to solve the above-mentioned first technical problem is: an automatic dregs removal system for a filter press, comprising

[0012] A filter press comprises a plurality of filter plates arranged in sequence along a front-to-rear direction; and

[0013] A dregs removal device, used for removing filter dregs on the surface of the filter plate;

[0014] It is characterized by: it also includes

[0015] A motion track extending in the front-rear direction;

[0016] A moving chassis is mounted on the moving track so as to be movable forward and backward;

[0017] A camera, fixed relative to the moving chassis, for photographing the surface of the filter plate;

[0018] A mechanical arm is mounted on the moving chassis, and the dregs removal device is mounted on the driving end of the mechanical arm; and

[0019] The processor identifies the area where the filter residue is located on the surface of the filter plate according to the picture taken by the camera, controls the mechanical arm to drive the residue removal device to move to the area where the filter residue is located, and then controls the residue removal device to perform a residue removal operation.

[0020] In order to protect the robot arm, a protection frame is installed on the outer side of the moving chassis. When the robot arm is in a reset state, the robot arm is located in the protection frame.

[0021] In order to facilitate the installation of the camera, the camera is installed on the protection frame.

[0022] In order to further solve the above second technical problem, the dregs removal device comprises

[0023] A fixed seat connected to the driving end of the mechanical arm;

[0024] Knife holder;

[0025] A scraper, the tail of which is rotatably connected to the knife holder, and the head of which has a blade capable of scraping off the filter residue on the surface of the filter plate;

[0026] an elastic component, acting between the blade holder and the scraper, so that the blade always has a tendency to move toward the filter plate; and

[0027] The driving member is installed on the fixed seat and is used to drive the tool holder to rise and fall.

[0028] In order to avoid the splashing of the removed filter residue and cause pollution, the fixed seat is a baffle, which is parallel to the filter plate. During the lifting process of the scraper, the scraper is always located in the interlayer between the baffle and the filter plate.

[0029] In order to facilitate the blade to scrape off the filter residue, an angle is provided between the blade and the filter plate.

[0030] In order to reduce the friction between the scraper and the filter plate and avoid jamming of the scraper during lifting and lowering, the head of the scraper is rotatably connected to a guide wheel that can roll in contact with the surface of the filter plate.

[0031] In order to facilitate the installation of the elastic component, the elastic component includes

[0032] A movable column, which can be movably mounted on the tool holder forward and backward via a guide column protruding from the side; and

[0033] The compression spring is sleeved on the tail of the movable column, and its two ends are respectively abutted on the guide column and the tool holder, so that the head of the movable column abuts on the back of the scraper.

[0034] In order to remove the filter residue on the front and rear surfaces of the filter plate, the front and rear surfaces of the filter plate are respectively recorded as the first surface and the second surface;

[0035] The number of the cameras is two, corresponding to the first surface and the second surface respectively, and are respectively recorded as the first camera and the second camera;

[0036] There are two dregs removal devices, which correspond to the first surface and the second surface respectively and are respectively recorded as a first dregs removal device and a second dregs removal device.

[0037] The technical solution adopted by the present invention to solve the third technical problem is: a control method for the automatic dregs removal system of the filter press, characterized by comprising the following steps:

[0038] Step 1: After the filter press completes filtration and unloading, the moving chassis moves to the unloading position corresponding to the frontmost filter plate;

[0039] Step 2: The first camera takes a picture of the first surface of the filter plate and transmits the picture to the processor, the processor identifies whether there is filter dregs on the first surface, and locates the filter dregs if there are filter dregs. At the same time, the processor controls the plate dragging mechanism on the filter press that drags the filter plate forward to stop moving, controls the mechanical arm to move the first dregs removal device to the front of the area where the filter dregs are located, controls the first dregs removal device to perform a dregs removal operation, and controls the first dregs removal device and the mechanical arm to reset in sequence after the dregs removal on the first surface is completed.

[0040] The processor controls the plate dragging mechanism on the filter press that drags the filter plate forward to resume working. During the forward movement of the filter plate, the second camera takes a picture of the second surface of the filter plate and transmits the picture to the processor. The processor identifies whether there is filter dregs on the second surface. If there is filter dregs, the processor locates the filter dregs. At the same time, the processor controls the plate dragging mechanism on the filter press that drags the filter plate forward to stop moving, controls the mechanical arm to move the second dregs removal device to the rear of the area where the filter dregs are located, controls the second dregs removal device to perform dregs removal operation, and controls the second dregs removal device and the mechanical arm to reset in sequence after the dregs removal on the second surface is completed.

[0041] Step 3: The processor controls the plate dragging mechanism on the filter press to resume working, and the front filter plate is dragged forward to the limit position. At the same time, the processor controls the moving chassis to move backward by a distance of the filter plate thickness to reach the desludging position corresponding to the next filter plate, and returns to step 2 until the desludging of all filter plates is completed.

[0042] Compared with the prior art, the advantages of the present invention are:

[0043] (1) The image information of the filter plate surface is captured by a camera, and the image is analyzed by an image processing algorithm, so as to realize the accurate identification and positioning of the filter dregs. At the same time, the robot arm drives the dregs removal device to move to the area where the filter dregs are located to perform the dregs removal operation, which can improve the filter dregs removal efficiency and reduce the damage to the filter plate surface;

[0044] (2) The slag removal device is composed of a fixed seat, a tool holder, a scraper, an elastic component and a driving part. When the surface of the filter plate is a curved surface, the angle between the scraper and the filter plate will change during the lifting process. This can ensure that the scraper is close to the filter plate without puncturing the filter plate. At the same time, it can move smoothly on the filter plate and scrape off the filter slag, meeting the needs of removing the filter slag on the curved surface. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic diagram of the three-dimensional structure of an embodiment of the automatic dregs removal system for a filter press of the present invention in an initial state;

[0046] Figure 2 for Figure 1 The enlarged view of part I;

[0047] Figure 3 for Figure 2 Schematic diagram of the three-dimensional structure of the middle filter plate;

[0048] Figure 4 for Figure 2 Schematic diagram of the three-dimensional structure of the medium dregs removal device;

[0049] Figure 5 for Figure 4 The right side view of the middle dregs removal device;

[0050] Figure 6 for Figure 4 Bottom view of the middle dregs removal device;

[0051] Figure 7 for Figure 1 A schematic diagram of the three-dimensional structure after the first slag removal device is moved to the front of the filter slag area;

[0052] Figure 8 for Figure 7 Enlarged view of part II;

[0053] Fig. 9 for Figure 7 A schematic diagram of the three-dimensional structure of the second slag removal device in the process of moving to the rear of the filter slag area;

[0054] Fig.10 for Fig. 9 Enlarged view of part III;

[0055] Fig.11 for Fig. 9 A schematic diagram of the three-dimensional structure after the second slag removal device is moved to the rear of the filter slag area;

[0056] Fig.12 for Fig.11 Enlarged view of part IV;

[0057] Fig.13 The present invention is a flow chart of an embodiment of a control method for an automatic slag removal system for a filter press. DETAILED DESCRIPTION

[0058] The present invention is further described in detail below with reference to the accompanying drawings.

[0059] In the specification and claims of the present invention, terms indicating directions, such as "front", "rear", "up", "down", "left", "right", "side", "top", "bottom", etc., are used to describe various exemplary structural parts and elements of the present invention, but these terms are used here only for the purpose of convenience of description and are determined based on the exemplary orientations shown in the accompanying drawings. Since the embodiments disclosed in the present invention can be arranged in different directions, these terms indicating directions are only used as explanations and should not be regarded as limitations. For example, "up" and "down" are not necessarily limited to directions opposite to or consistent with the direction of gravity.

[0060] like Figures 1 to 12 FIG. 1 is a preferred embodiment of the automatic dregs removal system for a filter press of the present invention. The automatic dregs removal system for a filter press comprises a filter press 1, a moving track 2, a moving chassis 3, a camera 4, a mechanical arm 5 and a dregs removal device 6.

[0061] The filter press 1 further includes a suspension beam 11, a plurality of filter plates 12 sequentially suspended on the suspension beam 11 in the front-to-back direction, and a drag plate mechanism (not shown in the figure) for driving the filter plates 12 to move in the front-to-back direction. This is a conventional structure of the filter press and will not be described here. For the specific structure, please refer to the Chinese patent application number CN202420815701.X previously applied by the applicant, "A filter plate moving system for a filter press". Generally speaking, filter cloth and diaphragm (not shown in the figure) are arranged on the front and back surfaces of each filter plate 12, respectively. In this embodiment, the surfaces of the filter plate 12 on which the filter cloth and diaphragm are arranged are respectively recorded as the first surface 121a and the second surface 121b.

[0062] The moving track 2 is located on the right side of the filter press 1 . The moving track 2 extends in the front-to-back direction, and both the front and rear ends of the moving track 2 are supported by columns 21 .

[0063] The moving chassis 3 is installed on the moving track 2 so as to be movable forward and backward, and a protection frame 31 is installed on the outer side of the moving chassis 3 .

[0064] There are two cameras 4, which correspond to the first surface 121a and the second surface 121b, respectively, and are respectively recorded as the first camera 4a and the second camera 4b. Specifically, the first camera 4a is installed at the front side of the upper left part of the protection frame 31, and is used to shoot the first surface 121a; the second camera 4b is installed at the rear side of the upper left part of the protection frame 31, and is used to shoot the second surface 121b.

[0065] The mechanical arm 5 is mounted on the motion chassis 3, as shown in FIG. Figure 2 As shown, when the robot arm 5 is in the reset state, the robot arm 5 is located in the protection frame 31.

[0066] There are two dregs removal devices 6, which correspond to the first surface 121a and the second surface 121b, respectively, and are respectively recorded as the first dregs removal device 6a and the second dregs removal device 6b. Specifically, the first dregs removal device 6a is installed at the rear side of the driving end of the mechanical arm 5, and is used to remove the filter dregs on the first surface 121a; the second dregs removal device 6b is installed at the front side of the driving end of the mechanical arm 5, and is used to remove the filter dregs on the second surface 121b.

[0067] In this embodiment, Figures 4 to 6 As shown, each dregs removing device 6 includes a baffle 61, a knife holder 62, a scraper 63, an elastic component 64 and a driving member 65.

[0068] Specifically, the baffle 61 is connected to the driving end of the mechanical arm 5 and is parallel to the filter plate 12; a strip-shaped clearance opening 611 extending in the vertical direction is opened in the middle of the baffle 61;

[0069] The knife holder 62 is located on the side of the baffle plate 61 facing the filter plate 12, and the middle part of the knife holder 62 has a transmission block 621 penetrating into the strip-shaped clearance opening 611;

[0070] There are three scrapers 63, which are arranged in sequence along the left and right directions. The tail of each scraper 63 is rotatably connected to the blade holder 62. The head of the scraper 63 has a blade 631 that can scrape off the filter residue on the surface of the filter plate 12. The angle between the blade 631 and the filter plate 12 is 5 to 30 degrees. The center of the head of the scraper 63 is rotatably connected to a guide wheel 632 that can roll in contact with the surface of the filter plate 12.

[0071] The elastic component 64 includes a movable column 641 and a compression spring 64; the movable column 641 can be movably mounted on the knife holder 62 through a guide column 6411 protruding from the side; the compression spring 642 is sleeved on the tail of the movable column 641, and the two ends of the compression spring are respectively abutted on the guide column 6411 and the knife holder 62, so that the head of the movable column 641 abuts on the back of the scraper 63, thereby making the blade 631 always have a tendency to move toward the filter plate 12;

[0072] The driving member 65 is a rodless cylinder installed on the surface of the baffle 61 facing away from the filter plate 12 . The rodless cylinder has a sliding block 651 that can slide in the vertical direction. The sliding block 651 is connected to the transmission block 621 .

[0073] Start the driving member 65, and drive the transmission block 621 to rise and fall through the sliding block 651, and the scraper 63 rises and falls synchronously with the blade holder 62, so as to realize the cleaning of the filter residue. During the lifting process of the scraper 63, the scraper 63 is always located in the interlayer between the baffle 61 and the filter plate 12, so as to avoid the splashing of the cleaned filter residue and cause pollution.

[0074] For the above-mentioned dregs removal device 6, when the surface of the filter plate 12 is a curved surface, on the one hand, due to the cooperation of the tool holder 62, the scraper 63 and the elastic component 64, the angle between the scraper 63 and the filter plate 12 will change during the lifting process. On the other hand, since multiple scrapers 63 are arranged side by side, the angles between each scraper 63 and the filter plate 12 are different. This ensures that each scraper 63 is tightly attached to the filter plate 12 without piercing the filter plate 12, and can move smoothly on the filter plate 12 and scrape off the filter dregs.

[0075] In addition, the automatic slag removal system of the filter press also has a processor, and the drag plate mechanism, moving chassis 3, camera 4, robotic arm 5 and driving part 65 of the slag removal device 6 of the above-mentioned filter press 1 are all electrically connected to the processor. The processor can identify the area where the filter slag is located on the surface of the filter plate 12 according to the picture taken by the camera 4, and control the robotic arm 5 to drive the slag removal device 6 to move to the area where the filter slag is located, and then control the slag removal device 6 to perform the slag removal operation.

[0076] like Fig.13 As shown, the present application also provides a control method for the automatic dregs removal system of the filter press, comprising the following steps:

[0077] Step 1: After the filter press 1 has completed the filtration and unloading, the moving chassis 3 moves to the unloading position corresponding to the front filter plate 12 (such as Figure 1 and Figure 2 shown);

[0078] Step 2: The first camera 4a takes a picture of the first surface 121a of the filter plate 12 and transmits the picture to the processor. The processor identifies whether there is filter dregs on the first surface 121a. If there is filter dregs, the processor locates the filter dregs. At the same time, the processor controls the dragging mechanism on the filter press 1 that drags the filter plate 12 forward to stop moving, and controls the mechanical arm 5 to move the first dregs removal device 6a to the front of the filter dregs area (such as Figure 7 and Figure 8 As shown), the first dregs removal device 6a is controlled to perform a dregs removal operation, and after the dregs removal on the first surface 121a is completed, the first dregs removal device 6a and the robot arm 5 are sequentially controlled to reset;

[0079] The processor controls the plate dragging mechanism on the filter press 1 that drags the filter plate 12 forward to resume working. During the forward movement of the filter plate 12, the second camera 4b takes a picture of the second surface 121b of the filter plate 12 and transmits the picture to the processor. The processor identifies whether there is filter dregs on the second surface 121b. If there is filter dregs, the processor locates the filter dregs. At the same time, the processor controls the plate dragging mechanism on the filter press 1 that drags the filter plate 12 forward to stop moving, and controls the robotic arm 5 to move the second dregs removal device 6b to the rear of the filter dregs area (such as Figures 9 to 12As shown), control the second dregs removal device 6b to perform the dregs removal operation, and after the dregs removal on the second surface 121b is completed, control the second dregs removal device 6b and the robot arm 5 to reset in sequence;

[0080] Step three, the processor controls the plate dragging mechanism on the filter press 1 that drags the filter plate 12 to resume working, and the front filter plate 12 is dragged forward to the extreme position. At the same time, the processor controls the moving chassis 3 to move backward by a distance of the thickness of the filter plate 12 to reach the desludging position corresponding to the next filter plate 12, and returns to step two until the desludging of all filter plates 12 is completed.

[0081] In addition, when the processor identifies the area where the filter residue is located on the surface of the filter plate 12, the surface of the filter plate 12 can be divided into multiple regular areas. During the filter residue positioning process, it is only necessary to locate the area where the filter residue is located, and control the robotic arm 5 to move to the midpoint of the area, fix the movement trajectory of the robotic arm 5, reduce the dependence on the control accuracy of the robotic arm 5, and improve reliability and efficiency; when there are filter residues in multiple areas, it is necessary to repeatedly control the robotic arm 5 to drive the residue removal device 6 to move to the area where the filter residue is located, and then control the residue removal device 6 to perform the residue removal operation.

Claims

1. An automatic dregs removal system for a filter press, comprising: A filter press (1) comprising a plurality of filter plates (12) arranged in sequence along a front-to-rear direction; and A sludge removal device (6) for removing filter sludge on the surface of the filter plate (12); Features: Also includes A motion track (2) extending in a front-rear direction; A moving chassis (3) is mounted on the moving track (2) so as to be movable forward and backward; A camera (4) is fixed relative to the moving chassis (3) and is used to photograph the surface of the filter plate (12); A mechanical arm (5) is mounted on the moving chassis (3), and the dregs removal device (6) is mounted on the driving end of the mechanical arm (5); as well as The processor identifies the area where the filter residue is located on the surface of the filter plate (12) based on the image taken by the camera (4), and controls the mechanical arm (5) to drive the residue removal device (6) to move to the area where the filter residue is located, and then controls the residue removal device (6) to perform a residue removal operation.

2. The automatic dregs removal system for filter press according to claim 1, characterized in that: A protective frame (31) is installed on the outer side of the moving chassis (3); when the mechanical arm (5) is in a reset state, the mechanical arm (5) is located inside the protective frame (31).

3. The automatic dregs removal system for filter press according to claim 2, characterized in that: The camera (4) is mounted on the protective frame (31).

4. The automatic dregs removal system for filter press according to claim 1, characterized in that: The dregs removal device (6) comprises A fixed seat connected to the driving end of the mechanical arm (5); Tool holder (62); A scraper (63), the tail of which is rotatably connected to the blade holder (62), and the head of which has a blade (631) capable of scraping off filter residue on the surface of the filter plate (12); An elastic component (64) acts between the blade holder (62) and the scraper (63) so that the blade (631) always has a tendency to move toward the filter plate (12); as well as A driving member (65) is mounted on the fixing seat and is used to drive the tool holder (62) to move up and down.

5. The automatic dregs removal system for filter press according to claim 4, characterized in that: The fixing seat is a baffle (61) which is parallel to the filter plate (12). During the lifting and lowering process of the scraper (63), the scraper (63) is always located in the interlayer between the baffle (61) and the filter plate (12).

6. The automatic dregs removal system for filter press according to claim 4, characterized in that: An angle is formed between the blade (631) and the filter plate (12).

7. The automatic dregs removal system for filter press according to claim 4, characterized in that: The head of the scraper (63) is rotatably connected to a guide wheel (632) capable of rolling contact with the surface of the filter plate (12).

8. The automatic dregs removal system for filter press according to claim 4, characterized in that: The elastic component (64) comprises A movable column (641) is movably mounted on the tool holder (62) by means of a guide column (6411) protruding from the side; and The compression spring (642) is sleeved on the tail of the movable column (641), and its two ends are respectively abutted against the guide column (6411) and the knife holder (62), so that the head of the movable column (641) abuts against the back of the scraper (63).

9. The automatic dregs removal system for a filter press according to any one of claims 1 to 8, characterized in that: The surfaces on the front and rear sides of the filter plate (12) are respectively recorded as a first surface (121a) and a second surface (121b); The number of the cameras (4) is two, corresponding to the first surface (121a) and the second surface (121b) respectively, and are respectively recorded as the first camera (4a) and the second camera (4b); The number of the dregs removal devices (6) is two, corresponding to the first surface (121a) and the second surface (121b), respectively, and are respectively recorded as a first dregs removal device (6a) and a second dregs removal device (6b).

10. A control method for the automatic dregs removal system of a filter press according to claim 9, characterized in that The following steps are included: Step 1: After the filter press (1) completes filtration and unloading, the movable chassis (3) moves to the unloading position corresponding to the frontmost filter plate (12); Step 2: The first camera (4a) photographs the first surface (121a) of the filter plate (12) and transmits the image to the processor, the processor identifies whether there is filter dregs on the first surface (121a), and if there is filter dregs, locates the filter dregs. At the same time, the processor controls the drag plate mechanism on the filter press (1) that drags the filter plate (12) forward to stop moving, controls the mechanical arm (5) to move the first dregs removal device (6a) to the front of the area where the filter dregs are located, controls the first dregs removal device (6a) to perform a dregs removal operation, and after the dregs removal of the first surface (121a) is completed, controls the first dregs removal device (6a) and the mechanical arm (5) to reset in sequence; The processor controls the plate dragging mechanism on the filter press (1) that drags the filter plate (12) forward to resume operation. During the process of the filter plate (12) moving forward, the second camera (4b) takes a picture of the second surface (121b) of the filter plate (12) and transmits the picture to the processor. The processor identifies whether there is filter dregs on the second surface (121b). If there is filter dregs, the processor locates the filter dregs. At the same time, the processor controls the plate dragging mechanism on the filter press (1) that drags the filter plate (12) forward to stop moving, controls the mechanical arm (5) to move the second dregs removal device (6b) to the rear of the filter dregs area, controls the second dregs removal device (6b) to perform a dregs removal operation, and controls the second dregs removal device (6b) and the mechanical arm (5) to reset after the dregs removal on the second surface (121b) is completed. Step 3: The processor controls the plate dragging mechanism on the filter press (1) for dragging the filter plate (12) to resume operation, and the frontmost filter plate (12) is dragged forward to the limit position. At the same time, the processor controls the moving chassis (3) to move backward by a distance of the thickness of the filter plate (12) to reach the desludging position corresponding to the next filter plate (12), and returns to step 2 until the desludging of all the filter plates (12) is completed.

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