Columnar component docking assembly system and docking assembly method

Abstract

The present invention discloses a columnar component docking assembly system, comprising: a welding device for welding component one and component two to form an integral component; a calibration device, arranged on one side of the welding device, for adjusting the position of component one; a calibration cabin, arranged on the other side of the welding device, for adjusting the position of component two; a propulsion device, for changing the position of component two in the calibration cabin; a transport device, for loading component one and component two and unloading the integral component, the calibration cabin comprising a bottom cabin body and closed doors hinged on both sides of the bottom cabin body, the closed doors being connected to a door body driving mechanism, the closed doors and the bottom cabin body forming a heat-insulating chamber in combination, the heat-insulating chamber being used to accommodate the welding position of the integral component. The problem of complex control and low welding quality of existing butt welding equipment is solved. Welding and heat insulation are integrated, and heat insulation treatment can be performed immediately after welding is completed, thereby ensuring welding quality.

Description

Technical Field

[0001] The invention belongs to the field of welding butt welding equipment, and in particular relates to a columnar component butt welding assembly system. Background Art

[0002] The connection of columnar components is usually assembled by welding. In order to improve the accuracy of welding, a docking mechanism is usually used to adjust the position of the two ends of the product.

[0003] The Chinese patent with announcement number CN220296300U discloses a docking structure with rotation, clamping and docking functions, which improves the convenience of use. It is mainly suitable for butt welding of products with shorter lengths and is not suitable for heavy-loaded products with longer lengths.

[0004] In addition, in order to facilitate welding alignment, butt pins or positioning welding are usually provided to ensure external alignment. Chinese patent publication number CN219725132U discloses a positioning structure including both internal positioning pins and external fixing lugs, which ensure coaxiality through internal and external positioning.

[0005] Chinese patent application publication number CN118204606A discloses a butt welding adjustment device and method, which performs butt welding on products by fixing the products and rotating the welding structure.

[0006] Chinese patent publication number CN116511906B discloses a butt welding structure in which a grinding mechanism is added.

[0007] In general, existing technologies primarily focus on improvements to butt joint methods and welding schemes. However, these techniques require multiple adjustments and are complex to control. They also lack significant advantages for processing heavy-duty products. Furthermore, due to their simple welding methods, weld quality is difficult to guarantee, resulting in a high defective rate. Summary of the Invention

[0008] The object of the present invention is to provide a columnar component butt-welding assembly system to solve the problems of complex control and low welding quality of existing butt-welding equipment.

[0009] In order to solve the above problems, the present invention discloses a columnar component docking assembly system, comprising:

[0010] A welding device for welding the first component and the second component to form an integral component;

[0011] a calibration device, provided on one side of the welding device, for adjusting the position of component one;

[0012] A calibration cabin is provided on the other side of the welding device and is used to adjust the position of component 2;

[0013] a propulsion device, used to change the position of component two in the calibration cabin;

[0014] Handling device, used for loading component one and component two and unloading the entire component,

[0015] The calibration cabin includes a bottom cabin body and closed doors hinged on both sides of the bottom cabin body. The closed doors are connected to a door driving mechanism. The closed doors and the bottom cabin body are combined to form an insulation cavity, which is used to accommodate the welding positions of the integral components.

[0016] As a further improvement of the above technical solution:

[0017] The welding device includes a welding frame, a rotating half ring that rotates with the welding frame, and a welding mechanism arranged on the rotating half ring. An outer ring gear is provided at the bottom of the rotating half ring, and a driving gear that meshes with the outer ring gear is provided on the welding frame. The driving gear meshes with the outer ring gear, so that the rotating half ring drives the welding mechanism to operate to achieve welding of component one and component two.

[0018] The calibration device includes a calibration frame and a calibration platform slidably arranged on the calibration frame, a sliding column is arranged on the calibration platform, a positioning support column is slidably arranged on the sliding column, a bottom support pad is arranged on the calibration platform, and a first screw mechanism is installed at the bottom of the calibration platform, and the position of the calibration platform on the calibration frame is changed by the first screw mechanism.

[0019] The propulsion device includes a propulsion frame, a propulsion platform slidably arranged on the propulsion frame, a propulsion rod is arranged on the propulsion platform, one end of the propulsion rod is connected to the propulsion disk, and a second screw mechanism is arranged at the bottom of the propulsion platform to change the position of the propulsion platform on the propulsion frame through the second screw mechanism.

[0020] The handling device includes a gantry, a first loading unit arranged on one side of the gantry, and a second loading unit arranged on the other side of the gantry. The first loading unit and the second loading unit are both slidably arranged on the gantry and both include a lifting drive structure and a clamping drive structure.

[0021] An air extraction hole is provided on one side of the calibration cabin, and a negative pressure unit is connected to one side of the air extraction hole.

[0022] The bottom cabin and the closed door are provided with a heating unit which uses a resistance wire or other heating element and can be matched with a temperature control system to set the heating temperature and heating time according to the use requirements.

[0023] A camera capture mechanism is provided on one side of the welding device, and the camera capture mechanism includes a standard sampling end, an adjustment sampling end and a comparison end. The standard position image is obtained through the standard sampling end, and the adjustment sampling end obtains the image of the position to be adjusted. The two images are input into the comparison end and an adjustment instruction is given.

[0024] The present invention also discloses a method for butting and assembling columnar components, comprising the following steps:

[0025] S1. Arrange marking points on the contact surface of component 1 and component 2;

[0026] S2. Use the transport device to place component 1 on the calibration device and component 2 in the calibration chamber;

[0027] S3, obtaining position images of component one and component two through a camera capture mechanism, comparing the position images, and giving adjustment instructions;

[0028] S4, input the adjustment instruction into the calibration device to move component 1, and repeat steps S3 and S4 until component 1 and component 2 are aligned;

[0029] S5. Surface welding is performed on component 1 and component 2 using a welding device;

[0030] S6. After welding is completed, the welding position of the entire component is brought into the heat preservation chamber by combining the calibration device and the propulsion device;

[0031] S7, heating and insulating the welding position in the insulation chamber by a heating unit;

[0032] S8. Open the closed door and take out the entire component using the handling device.

[0033] Compared with the prior art, the present invention has the following beneficial effects:

[0034] The columnar component docking assembly system of the present invention is provided with a calibration cabin with an insulation chamber, which can insulate the welding position, improve the welding quality, effectively improve the strength and stability of the welded joint, and reduce the generation of welding stress and cracks. The overall system has a compact structure, reasonable design, and a high degree of automation, which reduces labor costs and improves production efficiency. By rotating the half ring and the welding mechanism, high-precision welding of component one and component two can be achieved, ensuring the strength and stability of the entire component. Compared with the traditional clamp-type docking method, the present invention is not easy to slide during docking, has higher docking accuracy, and can reduce the defective rate. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is a schematic diagram of the overall structure of the present invention;

[0036] Figure 2 This is a schematic structural diagram of the welding device of the present invention;

[0037] Figure 3 This is one of the structural diagrams of the calibration device of the present invention;

[0038] Figure 4This is the second structural diagram of the calibration device of the present invention;

[0039] Figure 5 This is a schematic structural diagram of the calibration cabin of the present invention;

[0040] Figure 6 This is a structural schematic diagram of the propulsion device of the present invention;

[0041] Figure 7 This is a schematic structural diagram of the transport device of the present invention;

[0042] Figure 8 This is a schematic structural diagram of the first loading unit of the present invention;

[0043] Figure 9 This is a schematic structural diagram of the second loading unit of the present invention.

[0044] Figure numerals: 1. welding device; 10. welding frame; 11. rotating half ring; 12. welding mechanism; 13. outer ring gear; 14. driving gear; 2. calibration device; 20. calibration frame; 21. calibration platform; 22. sliding column; 23. positioning support column; 24. bottom support pad; 25. first screw mechanism; 3. calibration cabin; 31. bottom cabin body; 32. closed door; 33. door body driving mechanism; 4. propulsion device; 40. propulsion frame; 41. propulsion platform; 42. propulsion rod; 43. second screw mechanism; 44. propulsion disk; 5. handling device; 50. gantry; 51. first loading unit; 52. second loading unit; 53. lifting drive structure; 54. clamping drive structure; 34. exhaust hole. DETAILED DESCRIPTION

[0045] In order to make the technical means, creative features, objectives and effects achieved by the present invention easier to understand, the present invention is further described below in conjunction with specific implementation methods.

[0046] In the description of the present invention, it should be noted that the terms "upper," "lower," "inner," "outer," "front end," "rear end," "both ends," "one end," "the other end," and the like, indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have, be constructed, or operate in a specific orientation, and therefore should not be construed as limiting the present invention. Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.

[0047] In the description of the present invention, it should be noted that, unless otherwise expressly specified or limited, the terms "installed," "provided with," "connected," etc., should be understood in a broad sense. For example, "connected" may refer to a fixed connection, a detachable connection, or an integral connection; it may refer to a mechanical connection or an electrical connection; it may refer to a direct connection or an indirect connection through an intermediate medium; it may refer to internal communication between two components. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on the specific circumstances.

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0049] Example 1

[0050] The columnar component docking assembly system of this embodiment is as follows: Figure 1 Shown, including:

[0051] Welding device 1, welds component 1 and component 2 to form an integral component; Figure 2 As shown, the welding device 1 includes a welding frame 10, a rotating half ring 11 that rotates with the welding frame 10, and a welding mechanism 12 provided on the rotating half ring 11. An outer ring gear 13 is provided at the bottom of the rotating half ring 11, and a driving gear 14 that meshes with the outer ring gear 13 is provided on the welding frame 10. The driving gear 14 meshes with the outer ring gear 13, so that the rotating half ring 11 drives the welding mechanism 12 to operate and realize the welding of component one and component two. The welding mechanism 12 here is of conventional design, and the drive structure can be changed here to ensure circular welding. The welding frame 10 here is set as a lifting structure, that is, the height of the welding mechanism 12 is changed so that the welding mechanism 12 is aligned with the welding center.

[0052] The calibration device 2 is provided on one side of the welding device 1 and is used to adjust the position of the component 1; Figure 3 and Figure 4 As shown, the calibration device 2 includes a calibration frame 20 and a calibration platform 21 slidably set on the calibration frame 20, a sliding column 22 is set on the calibration platform 21, a positioning support column 23 is slidably set on the sliding column 22, a bottom support pad 24 is set on the calibration platform 21, and a first screw mechanism 25 is installed at the bottom of the calibration platform 21, and the position of the calibration platform 21 on the calibration frame 20 is changed by the first screw mechanism 25.

[0053] The calibration cabin 3 is provided on the other side of the welding device 1 and is used to adjust the position of the second component; Figure 5As shown, the calibration chamber 3 comprises a bottom chamber 31 and closed doors 32 hinged to either side of the bottom chamber 31. The closed doors 32 are connected to a door drive mechanism 33. The closed doors 32 and the bottom chamber 31 together form a heat-insulating chamber, which accommodates the welding position of the integral component. An exhaust port 34 is provided on one side of the calibration chamber 3, and a negative pressure unit is connected to one side of the exhaust port 34. The negative pressure unit, connected through the exhaust port 34, absorbs fumes generated during welding and transfers the gases to an exhaust gas treatment unit for treatment. To enhance thermal insulation, heating units are installed within the bottom chamber 31 and the closed doors 32. These heating units can utilize resistance wires. The contact surface between the bottom chamber 31 and the closed doors 32 is made of a heat-conducting metal material, and the resistance wires are installed within the heat-conducting metal material. The resistance wires heat the insulation chamber, transferring heat to the insulation chamber to ensure effective welding. A temperature control unit can be installed within the insulation chamber to control the temperature, allowing the heating temperature and duration to be adjusted according to design requirements.

[0054] The propulsion device 4 is used to change the position of the component 2 in the calibration chamber 3; Figure 6 As shown, the propulsion device 4 includes a propulsion frame 40, a propulsion platform 41 slidably set on the propulsion frame 40, a propulsion rod 42 is set on the propulsion platform 41, one end of the propulsion rod 42 is connected to a propulsion disk 44, and a second screw mechanism 43 is set at the bottom of the propulsion platform 41, and the position of the propulsion platform 41 on the propulsion frame 40 is changed by the second screw mechanism 43.

[0055] The handling device 5 is used for loading the first and second parts and unloading the whole parts, such as Figure 7 As shown, the handling device 5 includes a gantry 50, a first loading unit 51 provided on one side of the gantry 50, and a second loading unit 52 provided on the other side of the gantry 50. The first loading unit 51 and the second loading unit 52 are both slidably provided on the gantry 50. Figure 8 and Figure 9 As shown, the first loading unit 51 and the second loading unit 52 both include a lifting drive structure 53 and a clamping drive structure 54 .

[0056] Example 2

[0057] A camera capture mechanism is provided on one side of the welding device 1. The camera capture mechanism includes a standard sampling end, an adjustment sampling end and a comparison end. The standard position image is obtained through the standard sampling end, and the image of the position to be adjusted is obtained through the adjustment sampling end. The two images are input into the comparison end and an adjustment instruction is given.

[0058] Based on the camera capture mechanism, this embodiment discloses a columnar component docking assembly method, including the following steps:

[0059] S1. Place marking points on the contact surfaces of component 1 and component 2. Marking points can be either non-machined or machined. Non-machined marking can be done with a fluorescent pen. Machined marking involves drilling holes in the contact surfaces and inserting mounting pins within the holes. Alignment is achieved by aligning the mounting pins. To facilitate external communication and ensure alignment accuracy, three marking points are used.

[0060] S2. The material is transported through the transport device 5. Specifically, the first loading unit 51 places component one on the calibration device 2, and the second loading unit 52 places component two in the calibration chamber 3; the second loading unit 22 has a rotation function, which can adjust the position of component two so that the marked point in component two is used as the standard position.

[0061] S3, using the camera capture mechanism to obtain the position images of component 1 and component 2, and compare the position images to give adjustment instructions; the position image is the position image of the marking point. Step S3 specifically includes:

[0062] S31, capturing a first image I1 of component one and a second image I2 of component two in an initial state;

[0063] S32, performing a difference operation based on the first image I1 and the second image I2 to obtain an image difference D:

[0064] D = |I1-I2|;

[0065] S33, setting a matching threshold T, determining whether the image difference D is less than or equal to the matching threshold T to confirm the consistency of the positions of the two components; if D is less than or equal to T, outputting a match; otherwise, calculating the relative offset and issuing an adjustment instruction; setting the matching threshold T includes:

[0066] S331, analyzing historical docking records and calculating the standard matching image difference D0 under the current conditions;

[0067] S332. A threshold value is obtained by taking a weighted average of the standard matching image difference D0 and the noise intensity N in the current environment:

[0068] T=(D0+0.5*N) / 2;

[0069] For different types of images D, the corresponding type of standard D0 is adopted;

[0070] The threshold T is modified according to the type difference: if it is a rough surface, the threshold is increased by 10%.

[0071] External interference is also considered in the process of adjusting the threshold T:

[0072] When there is strong light in the recognition environment, increase the threshold percentage: "If L>Lmax, set T=T+0.15*T", L represents the light intensity, and Lmax represents the light intensity limit.

[0073] Adjust T according to the real-time wind speed level. The threshold is relaxed as the wind speed increases: "If W>Wlimit, set T=T+0.2*T" and "W≤Wlimit, no change", where W represents the wind speed and Wlimit represents the wind speed limit.

[0074] Test the location recognition accuracy under the new threshold. If the accuracy A is greater than 85%, maintain it unchanged. Otherwise, if A < 85%, then T = T + 5% of the original setting. After environmental changes, the real-time feedback system recalculates the revised threshold. The first T represents the latest threshold, and the second T represents the previous threshold. The same applies to the above.

[0075] S4, input the adjustment instruction into the calibration device 2, drive the component 1 to move, and repeat steps S3 and S4 until the component 1 and the component 2 are aligned;

[0076] S5. Surface welding is performed on component 1 and component 2 using welding device 1;

[0077] S6. After welding is completed, the welding position of the entire component is brought into the heat preservation chamber by combining the calibration device 2 and the propulsion device 4;

[0078] S7. The welding position in the heat preservation chamber is heated and heat-insulated by the heating unit. Compared with the prior art, the entire component after welding can be heat-insulated here, which can improve the welding quality.

[0079] S8. Open the closed door 32 and take out the entire component through the transport device 5.

[0080] The working principle of this embodiment: when in use, the contact surface of component one and component two to be welded is processed, specifically by arranging marking points. Component two is then placed in the calibration cabin 3, and the position of component two can be adjusted by the second loading unit 52 so that it is in the standard position. Component one is then placed on the calibration device 2 through the first loading unit 51, and the image of the marking point of component two is captured by the camera capture mechanism, which is defined as the standard position. By capturing the image of the marking point of component one, the image of the marking point of component one is compared with the standard position to obtain the adjustment value. By controlling the movement of the positioning support column 23 on the sliding column 22, the position of the marking point of component one is made the same as the standard position, and the positions are aligned. Component one is driven to move toward component two by the first screw mechanism 25, and component two is squeezed by the second screw mechanism 43 so that component one and component two are in close contact. At this time, the welding mechanism 12 of the welding device 1 welds the connection between component one and component two. In order to ensure circumferential welding, the rotating half ring 11 is used to drive the welding mechanism 12 to rotate to achieve the welding of component one and component two. During welding, the negative pressure unit is turned on to absorb the harmful smoke generated during welding. After welding is completed, the first screw mechanism 25 pushes the entire component toward the calibration chamber 3, and the closed door 32 is driven to close by the door drive mechanism 33 to form an insulation chamber, and the welding position is placed in the insulation chamber. The cooling time can be extended and the cooling rate can be reduced. The probability of producing lamellar martensite is reduced, making it easier for the weld structure to obtain pearlite, ferrite or troostite and lath martensite with higher toughness. This helps to reduce welding stress and prevent cracks or deformation at the weld. In addition, it can give bubbles in the weld sufficient time to overflow, reduce the porosity generation rate, and thus improve the quality of the weld; through insulation measures, the welding interface structure can be stabilized and the stress is released, thereby improving the strength and stability of the weld joint. Due to the influence of ambient temperature, it is difficult to ensure the insulation temperature even if an insulation chamber is used. Therefore, a heating unit is provided in the bottom cabin 31 and the closed door 32. The heating unit can improve the insulation effect and further ensure the welding quality.

[0081] The present invention integrates welding and heat preservation, and heat preservation treatment can be performed immediately after welding is completed, thereby ensuring welding quality. During the alignment process, a camera is used to capture marking points for adjustment, and the docking accuracy is high, making it suitable for docking processing of heavy-loaded products.

[0082] The above is only an embodiment of the present invention, and common sense such as the specific structure and characteristics of the scheme are not described in detail here. For those skilled in the art, it is obvious that the present invention is not limited to the details of the above exemplary embodiments, and the present invention can be implemented in other specific forms without departing from the spirit or basic characteristics of the present invention. Therefore, from any point of view, the embodiments should be regarded as exemplary and non-restrictive. The scope of the present invention is defined by the appended claims rather than the above description, and it is intended that all changes that fall within the meaning and scope of the equivalent elements of the claims are included in the present invention. Any figure mark in the claims should not be regarded as limiting the claim involved.

Claims

1. A columnar component docking assembly system, characterized in that: include: A welding device (1) for welding component 1 and component 2 to form an integral component; A calibration device (2) is provided on one side of the welding device (1) and is used to adjust the position of component one; A calibration cabin (3), provided on the other side of the welding device (1), for adjusting the position of component two; A propulsion device (4) for changing the position of component 2 in the calibration chamber (3); The handling device (5) is used for loading the first and second components and unloading the entire component. The calibration cabin (3) comprises a bottom cabin body (31), closed doors (32) hinged to both sides of the bottom cabin body (31), the closed doors (32) being connected to a door driving mechanism (33), the closed doors (32) and the bottom cabin body (31) being combined to form a heat preservation cavity, and the heat preservation cavity is used to accommodate the welding position of the integral components; The welding device (1) comprises a welding frame (10), a rotating half ring (11) rotatably matched with the welding frame (10), and a welding mechanism (12) arranged on the rotating half ring (11); an outer gear ring (13) is arranged at the bottom of the rotating half ring (11); a driving gear (14) meshing with the outer gear ring (13) is arranged on the welding frame (10); the driving gear (14) meshes with the outer gear ring (13), so that the rotating half ring (11) drives the welding mechanism (12) to operate to realize welding of component one and component two; The calibration device (2) comprises a calibration frame (20) and a calibration platform (21) slidably arranged on the calibration frame (20), a sliding column (22) is arranged on the calibration platform (21), a positioning support column (23) is slidably arranged on the sliding column (22), a bottom support pad (24) is arranged on the calibration platform (21), and a first screw mechanism (25) is installed at the bottom of the calibration platform (21), and the position of the calibration platform (21) on the calibration frame (20) is changed by the first screw mechanism (25); The propulsion device (4) includes a propulsion frame (40), a propulsion platform (41) slidably arranged on the propulsion frame (40), a propulsion rod (42) is arranged on the propulsion platform (41), one end of the propulsion rod (42) is connected to a propulsion disk, and a second screw mechanism (43) is arranged at the bottom of the propulsion platform (41), and the position of the propulsion platform (41) on the propulsion frame (40) is changed by the second screw mechanism (43).

2. The columnar component docking assembly system according to claim 1, characterized in that: The transport device (5) comprises a gantry (50), a first loading unit (51) arranged on one side of the gantry (50), and a second loading unit (52) arranged on the other side of the gantry (50), wherein the first loading unit (51) and the second loading unit (52) are both slidably arranged on the gantry (50) and both comprise a lifting drive structure (53) and a clamping drive structure (54).

3. The columnar component docking assembly system according to claim 1, characterized in that: An air extraction hole (34) is provided on one side of the calibration cabin (3), and a negative pressure unit is connected to one side of the air extraction hole (34).

4. The columnar component docking assembly system according to claim 1, characterized in that: A heating unit is provided in the bottom cabin (31) and the closed door (32).

5. The columnar component docking assembly system according to claim 4, characterized in that: A camera capture mechanism (6) is provided on one side of the welding device (1), and the camera capture mechanism (6) comprises a standard sampling end, an adjustment sampling end, and a comparison end. The standard position image is acquired through the standard sampling end, and the adjustment sampling end acquires the image of the position to be adjusted. The two images are input to the comparison end, and an adjustment instruction is given.

6. A docking assembly method based on the columnar component docking assembly system according to claim 5, characterized in that: The following steps are involved: S1. Arrange marking points on the contact surface of component 1 and component 2; S2, placing component 1 on the calibration device (2) and component 2 in the calibration chamber (3) through the transport device (5); S3, obtaining position images of component one and component two through the camera capture mechanism (6), comparing the position images, and giving adjustment instructions; S4, inputting the adjustment instruction into the calibration device (2), driving component 1 to move, and repeating steps S3 and S4 until component 1 and component 2 are aligned; S5, performing surface welding on component 1 and component 2 using the welding device (1); S6, welding is completed, and the welding position of the entire component enters the heat preservation chamber through the combination of the calibration device (2) and the propulsion device (4); S7, heating and insulating the welding position in the insulation chamber by a heating unit; S8. Open the closed door (32) and take out the entire component through the handling device (5).

7. The docking assembly method according to claim 6, characterized in that: The method of obtaining position images of component one and component two by means of a camera capture mechanism (6), comparing the position images, and providing adjustment instructions includes: S31, capturing a first image I1 of component one and a second image I2 of component two in an initial state; S32, performing a difference operation based on the first image I1 and the second image I2 to obtain an image difference D: D = |I1 - I2|; S33, setting a matching threshold T, determining whether the image difference D is less than or equal to the matching threshold T to confirm the consistency of the positions of the two components; if D is less than or equal to T, outputting a match; otherwise, calculating the relative offset and issuing an adjustment instruction; setting the matching threshold T includes: S331, analyzing historical docking records and calculating the standard matching image difference D0 under the current conditions; S332. Obtain a threshold value based on the weighted average of the standard matching image difference D0 and the noise intensity N in the current environment: T = (D0 + 0.5 * N) / 2; For different types of images D, the corresponding type of standard D0 is adopted; The threshold T is modified according to the type difference: if it is a rough surface, the threshold is increased by 10%.

Images