The precise application of tightening torque is one of the important measures to ensure accurate bolt connection and improvement in product assembly quality. Currently, due to the limited assembly space and efficiency, a wrench without the function of torque measurement is still an extensively used assembly tool. Therefore, wrench torque monitoring is one of the urgent problems that needs to be solved. This study proposes a multi-segmentation parallel convolution neural network (MSP-CNN) model for estimating assembly torque using surface electromyography (sEMG) signals, which is a method of torque monitoring through classification methods. The MSP-CNN model contains two independent CNN models with different or offset torque granularities, and their outputs are fused to obtain a finer classification granularity, thus improving the accuracy of torque estimation. First, a bolt tightening test bench is established to collect sEMG signals and tightening torque signals generated when the operator tightens various bolts using a wrench. Second, the sEMG and torque signals are preprocessed to generate the sEMG signal graphs. The range of the torque transducer is divided into several equal subdivision ranges according to different or offset granularities, and each subdivision range is used as a torque label for each torque signal. Then, the training set, verification set, and test set are established for torque monitoring to train the MSP-CNN model. The effects of different signal preprocessing methods, torque subdivision granularities, and pooling methods on the recognition accuracy and torque monitoring accuracy of a single CNN network are compared experimentally. The results show that compared to maximum pooling, average pooling can improve the accuracy of CNN torque classification and recognition. Moreover, the MSP-CNN model can improve the accuracy of torque monitoring as well as solve the problems of non-convergence and slow convergence of independent CNN network models.
Multi-Segmentation Parallel CNN Model for Estimating Assembly Torque Using Surface Electromyography Signals
