Press-fitting device, press-fitting method, encoder manufacturing method, learning device, and inference device

Abstract

To obtain a press-fitting device which enables a press-fitting component to be press-fitted in a press-fitted component with high accuracy.SOLUTION: A press-fitting device 100 includes a measuring unit 70 having: a position measuring unit configured to measure a relative distance between a position of an end surface at a direction opposite to a press-fitting direction (a press-fitting opposite direction) side which faces the opposite side of the press-fitting direction in an outer peripheral side component, which is integrated with a press-fitted component and disposed at the outer periphery side of a press-fitting component and the press-fitted component, in a direction along the press-fitting direction and a position of a press-fitting head reference position, which is located at the press-fitting opposite direction relative to the end surface at the press-fitting opposite direction side of the outer peripheral side component in a press-fitting head 63 during press-fitting, in the direction along the press-fitting direction; and a load cell 64 which detects a load applied to the press-fitting head 63. A control unit 90 controls first press-fitting in which the press-fitting component is press-fitted with a first stroke amount which is determined based on the relative distance and smaller than a target press-fitting amount and controls second press-fitting in which the press-fitting component is press-fitted with a second stroke amount determined based on information on the first press-fitting obtained from the measuring unit 70.SELECTED DRAWING: Figure 4

Description

Technical Field

[0001] The present disclosure relates to a press-fitting device for press-fitting a press-fitting component into a press-fitted component, a press-fitting method, a method for manufacturing an encoder, a learning device, and an inference device.

Background Art

[0002] Patent Document 1 describes a press-fitting device that measures a press-fitting amount and a press-fitting load, performs press-fitting in a plurality of steps, and after press-fitting for deriving a deformation amount of the press-fitted component with respect to the press-fitting load, performs press-fitting taking into account the derived deformation amount. In the press-fitting device of Patent Document 1, the position of the end face of the press-fitting component with respect to the reference plane of the press-fitting device is measured.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] However, in the press-fitting device of Patent Document 1 described above, the total of the elastic deformation amount and the press-fitting amount of the press-fitted component is measured by a position sensor, and the elastic deformation amount is derived therefrom. Thus, in the press-fitting device of Patent Document 1, the elastic deformation amount cannot be directly measured and is a predicted value. That is, in the press-fitting device of Patent Document 1, since press-fitting is performed based on a predicted value, there is a problem that the press-fitting accuracy is reduced.

[0005] The present disclosure has been made in view of the above, and an object thereof is to obtain a press-fitting device capable of accurately press-fitting a press-fitting component into a press-fitted component.

Means for Solving the Problems

[0006] To solve the above-mentioned problems and achieve the objective, the press-fitting device according to this disclosure is a press-fitting device that presses a press-fitting component into a component to be press-fitted with a target press-fitting amount. The press-fitting device comprises a press-fitting head that holds the press-fitting component on the end face on the press-fitting direction side facing the press-fitting direction, which is the direction in which the press-fitting component is pressed into the component to be press-fitted, and a press-fitting drive unit that drives the press-fitting head in the press-fitting direction to press the press-fitting component into the component to be press-fitted. The press-fitting device includes a position measuring unit that measures the relative distance between the position of the end face on the non-press-fitting direction side of the outer peripheral component, which is integrated with the part to be press-fitted and positioned on the outer peripheral side of the part to be press-fitted during press-fitting, and the position of the press-fitting head reference position, which is located on the non-press-fitting direction side of the end face of the outer peripheral component on the outer peripheral component, in the direction of press-fitting, and the position of the press-fitting head reference position, which is located on the non-press-fitting direction side of the end face of the outer peripheral component, in the direction of press-fitting, when the part to be press-fitted into the part to be press-fitted, and the position of the press-fitting head reference position, which is located on the non-press-fitting direction side of the end face of the outer peripheral component, in the direction of press-fitting, and the position of the press-fitting head reference position, in the direction of press-fitting, when the part to be press-fitted is pressed into the part to be press-fitted. The press-fitting device also includes a control unit that controls the press-fitting drive unit based on the information acquired by the measuring unit to control the movement of the press-fitting head in the press-fitting direction. The control unit controls the first press-fit, in which the part to be press-fitted is pressed in with a first stroke amount that is less than the target press-fit amount, which is determined based on the relative distance, and controls the second press-fit, in which the part to be press-fitted is pressed in with a second stroke amount that is determined based on the information acquired from the measuring unit for the first press-fit. [Effects of the Invention]

[0007] The press-fitting device described herein has the effect of being able to press-fit a press-fitting part into a part to be press-fitted with high precision. [Brief explanation of the drawing]

[0008] [Figure 1] A longitudinal cross-sectional view showing the schematic structure of the optical encoder according to Embodiment 1. [Figure 2] A longitudinal cross-sectional view showing a schematic of the assembly structure of the optical encoder according to Embodiment 1. [Figure 3] Front view of the press-fitting device according to Embodiment 1 [Figure 4] Side view of the press-fitting device according to Embodiment 1 [Figure 5]Flowchart showing the procedure for the press-fitting operation of the press-fitting device according to Embodiment 1 [Figure 6] Enlarged longitudinal cross-sectional view of the measurement location in the press-fitting device according to Embodiment 1 [Figure 7] Enlarged cross-sectional view of the measurement location in the press-fitting device according to Embodiment 1 [Figure 8] Conceptual diagram illustrating the dimensions controlled in the press-fitting device according to Embodiment 1. [Figure 9] Diagram showing the configuration of the learning device according to Embodiment 2. [Figure 10] Flowchart showing the processing procedure of the learning process by the learning device according to Embodiment 2 [Figure 11] This figure shows the configuration of the neural network used in the learning device according to Embodiment 2. [Figure 12] Diagram showing the configuration of the inference device according to Embodiment 2. [Figure 13] Flowchart showing the processing procedure of inference processing by the inference device according to Embodiment 2 [Figure 14] This diagram shows a configuration in which the functions of the control unit according to Embodiments 1 and 2 are implemented in hardware. [Figure 15] This diagram shows a configuration in which the functions of the control unit according to Embodiments 1 and 2 are implemented in software. [Modes for carrying out the invention]

[0009] The press-fitting device, press-fitting method, encoder manufacturing method, learning device, and inference device according to the embodiment will be described in detail below with reference to the drawings.

[0010] Embodiment 1. FIG. 1 is a longitudinal sectional view showing a schematic structure of an optical encoder according to Embodiment 1. FIG. 1 shows a state in which an optical encoder 10 is fixed to a motor 20. In Embodiment 1, the left - right direction in FIG. 1 is defined as the X - axis direction, the depth direction of the drawing in FIG. 1 is defined as the Y - axis direction, and the up - down direction in FIG. 1 is defined as the Z - axis direction. The X - axis direction is a direction orthogonal to the Y - axis direction and the Z - axis direction. The Y - axis direction is a direction orthogonal to the X - axis direction and the Z - axis direction. The Z - axis direction is a direction orthogonal to the X - axis direction and the Y - axis direction. The Z - axis direction is a direction along the axial direction of the rotation axis 21 of the motor 20.

[0011] The optical encoder 10 includes a housing 11 that constitutes the outer shell of the optical encoder 10, a mirror receiver 12 that has a disk shape and supports the optical components of the optical encoder 10, a concave mirror 13 that is fixed and held on the mirror receiver 12, a scale disk 15 that is fixed to the concave mirror 13 and has light - transmissivity, and a substrate 17 that is fixed to the housing 11.

[0012] The housing 11 has a cylindrical shape and is fixed to a motor body 22 of a motor 20 to which the optical encoder 10 is fixed. The housing 11 can be said to be an outer - peripheral - side component that is integrated with the motor 20, which is a press - fitted component, and is arranged on the outer - peripheral side of the mirror receiver 12 and the rotation axis 21 of the motor 20 during the press - fitting of the mirror receiver 12 in a press - fitting device 100 described later.

[0013] The substrate 17 is fixed to the housing 11 and is fixed to the motor body 22 of the motor 20 via the housing 11. On the surface of the substrate 17 facing the motor 20 side in the Z - axis direction, a light - receiving element 18 and a light - emitting diode (LED) 19 are provided.

[0014] The light beam 31 emitted from the LED 19 toward the concave mirror 13 is reflected by the concave mirror 13 provided with the reflective film 14. The light beam 32, which is the light beam reflected from the light beam 31, is collimated by the concave mirror 13 to become a parallel light beam and is irradiated over substantially the entire surface of the surface facing the concave mirror 13 in the Z-axis direction on the scale disk 15, and enters the scale disk 15.

[0015] On the scale disk 15, a slit 16 composed of a transmission part and a non-transmission part (not shown) is provided on the surface facing the substrate 17 side in the Z-axis direction. The light beam 32 that has passed through the scale disk 15 is encoded by the slit 16 and detected by the light receiving element 18.

[0016] The mirror receiver 12, the concave mirror 13, and the scale disk 15 are fixed to the rotation shaft 21 of the motor 20 to which the optical encoder 10 is fixed.

[0017] FIG. 2 is a longitudinal sectional view showing an outline of the assembled structure of the optical encoder according to Embodiment 1. In the assembly of the optical encoder 10, first, the housing 11 is fixed to the motor body 22 of the motor 20, and then the mirror receiver 12 is press-fitted into the rotation shaft 21 of the motor 20. Next, the concave mirror 13 is fixed to the upper surface of the mirror receiver 12 using an adhesive 34. Next, the scale disk 15 is fixed to the upper surface of the concave mirror 13 using an adhesive 35. Finally, the substrate 17 is fixed to the upper surface of the housing 11 using an adhesive 36.

[0018] In order for the light beam 32 to become a parallel light beam, it is necessary to install the LED 19 at the focal height position of the concave mirror 13 in the Z-axis direction. The relative distance between the LED 19 and the concave mirror 13 is determined by the press-fitting amount of the mirror receiver 12. The press-fitting accuracy of the mirror receiver 12 onto the rotation shaft 21 of the motor 20 affects the quality of the optical encoder 10. For this reason, the mirror receiver 12 needs to be press-fitted with an accuracy of, for example, 10 μm.

[0019] In the following, the press-fit amount is the amount by which the mirror receiver 12 is pressed onto the rotation shaft 21 of the motor 20 in the Z-axis direction as a result of the press-fit drive unit 60 operating under the control of the control unit 90, and is a value obtained by measurement. The target press-fit amount is the press-fit amount at which the optical encoder 10 satisfies the product function. The stroke amount is the amount by which the control unit 90 drives the press-fit drive unit 60 to lower the press-fit head 63 in order to obtain the target press-fit amount of the mirror receiver 12, and is an instruction value that indicates the amount of lowering of the press-fit head 63.

[0020] Figure 3 is a front view of the press-fitting device according to Embodiment 1. Figure 4 is a side view of the press-fitting device according to Embodiment 1. Figure 4 shows the press-fitting device 100 as seen from the right side in Figure 3. Note that the control unit 90 is shown shifted from its position in Figure 3 for illustrative purposes. The press-fitting device 100 according to Embodiment 1 is an encoder press-fitting device for press-fitting the mirror receiver 12 of an optical encoder 10 onto the tip of the rotating shaft 21 of a motor 20.

[0021] The press-fitting device 100 comprises a frame 50, a press-fitting drive unit 60, a measuring unit 70, and a control unit 90.

[0022] The frame 50 comprises a base plate 51, a top plate 53, a column 52 connecting the base plate 51 and the top plate 53, and a motor support 54 installed on the base plate 51 on which the motor 20 is placed and which holds the motor 20.

[0023] The press-fit drive unit 60 performs a press-fit operation to press-fit the mirror receiver 12 of the optical encoder 10 onto the tip of the rotating shaft 21 of the motor 20. The press-fit drive unit 60 is installed on the top plate 53 and includes a press-fit rod 61, a press-fit motor 62 which is a drive unit that drives the press-fit rod 61 in the press-fit direction, a press-fit head 63 which is a holding unit attached to the end face of the press-fit rod 61 on the press-fit direction side to hold the mirror receiver 12 which is a press-fit part, and a load cell 64 which is a load detection unit that measures the load applied to the press-fit head 63.

[0024] The press-fit direction is the direction in which the mirror receiver 12 of the optical encoder 10 is pressed into the tip of the rotating shaft 21 of the motor 20. This is the downward direction in the vertical direction, the direction toward the motor 20 in the Z-axis direction, and the direction along the axial direction of the rotating shaft 21 of the motor 20, which will be described later. The direction opposite to the press-fit direction in the Z-axis direction is called the anti-press-fit direction.

[0025] The press-fit head 63 is equipped with a vacuum suction mechanism (not shown) that holds the mirror receiver 12 by vacuum suction on the end face on the press-fit direction side. The press-fit head 63 is composed of a first press-fit head section 631 and a second press-fit head section 632, which have cylindrical shapes of different diameters. In other words, the press-fit head 63 has a two-stage structure, with two cylinders of different diameters stacked on top of each other. The end face on the press-fit direction side is the press-fit direction side end face 632a, which faces the press-fit direction, the direction in which the mirror receiver 12 is pressed into the tip of the rotating shaft 21 of the motor 20.

[0026] The first press-fit head portion 631 is a cylindrical portion with a relatively large diameter, positioned on the load cell 64 side in the Z-axis direction and attached to the load cell 64. The diameter of the first press-fit head portion 631 attached to the load cell 64 is approximately the same as the diameter of the cylindrical shape of the housing 11.

[0027] The second press-fit head portion 632 is a cylindrical portion with a relatively small diameter, positioned on the mirror receiver 12 side in the Z-axis direction, and in contact with the mirror receiver 12. The diameter of the second press-fit head portion 632 that contacts the mirror receiver 12 is the same as the diameter of the disc shape of the mirror receiver 12.

[0028] The load cell 64 detects the load applied to the press-fitting head 63 and the mirror receiver 12 at predetermined intervals during the press-fitting operation to press-fit the mirror receiver 12 of the optical encoder 10 onto the tip of the rotating shaft 21 of the motor 20. The load cell 64 transmits the detected load applied to the press-fitting head 63 to the control unit 90.

[0029] The measuring unit 70 includes a Y-axis actuator 71, a Z-axis actuator 72, a motor chuck 73, and a laser line sensor 80.

[0030] The Y-axis actuator 71 is attached to the Z-axis actuator 72 and moves freely in the Y-axis direction to match the width of the motor 20 to which the optical encoder 10 is attached. The width of the motor 20 is the width of the motor body 22 in the plane direction perpendicular to the rotation axis 21 of the motor 20. A laser line sensor 80 is mounted on the Y-axis actuator 71.

[0031] The Y-axis actuator 71 holds the light emitter 81 and light receiver 82 of the laser line sensor 80, which will be described later, spaced apart in the XY plane. The Y-axis actuator 71 comprises a first Y-axis actuator section 71a that mounts and holds the light emitter 81, and a second Y-axis actuator section 71b that mounts and holds the light receiver 82. The first Y-axis actuator section 71a and the second Y-axis actuator section 71b may be connected to each other and attached to the Z-axis actuator 72, or they may be provided independently of each other and attached to the Z-axis actuator 72.

[0032] The Z-axis actuator 72 moves freely in the Z-axis direction to match the height of the motor 20 to which the optical encoder 10 is attached. The height of the motor 20 is the length of the motor 20 in the Z-axis direction. The Z-axis actuator 72 is equipped with a Y-axis actuator 71 and a motor chuck 73.

[0033] The motor chuck 73 securely holds the motor 20, which is positioned on the surface plate 51.

[0034] The laser line sensor 80 comprises a light emitter 81 that emits laser light 83 and a light receiver 82 that detects the laser light 83 emitted from the light emitter 81. The light emitter 81 is mounted on the first Y-axis actuator section 71a. The light receiver 82 is mounted on the second Y-axis actuator section 71b. In the press-fitting device 100, the laser line sensor 80 emits laser light 83 from the light emitter 81 toward the object to be measured, and the position of the portion in the Z-axis direction through which the laser light 83 has passed is measured by detecting the laser light 83 that has passed through the light receiver 82 without being reflected by the object to be measured.

[0035] Specifically, the light emitter 81 emits a sheet-like laser beam 83 parallel to the direction of press-fitting toward the press-fitting head 63 and the housing 11, which is an outer peripheral component. The light receiver 82 detects the amount of light from the received laser beam 83 to measure the position of the non-press-fitting side surface 11a of the housing 11 in the direction of press-fitting, and the position of the stepped surface 63a of the press-fitting head 63, which is the press-fitting head reference position, in the direction of press-fitting.

[0036] The control unit 90 controls the press-fit motor 62 based on information from the load cell 64 and the laser line sensor 80. Specifically, the control unit 90 controls the press-fit drive unit 60 based on information acquired by the measuring unit 70 to control the movement of the press-fit head 63 in the press-fit direction.

[0037] Next, the press-fitting operation of the press-fitting device 100 according to Embodiment 1 will be described. Figure 5 is a flowchart showing the procedure for the press-fitting operation of the press-fitting device according to Embodiment 1.

[0038] First, in step S110, the motor 20's product data is read by the control unit 90. Specifically, the control unit 90 obtains the motor 20's product number from outside the control unit 90 and reads the product data, which is the product information of the motor 20 associated with that product number, from an external device such as a database. Then, the control unit 90 reads the dimensional information of the motor 20, which is included in the motor 20's product data. After that, the process proceeds to step S120.

[0039] In step S120, based on the dimensional information of the motor 20 read in step S110, the measuring unit 70 is raised and lowered so that the upper surface of the housing 11 aligns with the center of the measurement area of ​​the laser line sensor 80 in the Z-axis direction. The upper surface of the housing 11 can be rephrased as the anti-press-fit side surface 11a, which is the end face of the housing 11 on the side opposite to the press-fit direction. The process then proceeds to step S130.

[0040] In step S130, the motor 20 is chucked. Specifically, the motor 20 is placed on the motor support 54 and chucked and fixed by the motor chuck 73. This positions the motor 20 within its horizontal plane, i.e., within the XY plane. At this time, the lower side of the motor 20 is in contact with the motor support 54, and it is also positioned in the height direction. As mentioned above, the motor chuck 73 is also attached to the measuring section 70, and in step S120, when the height of the measuring section 70 is adjusted to match the dimensions of the motor 20, the motor chuck 73 is pre-adjusted so that it is at the same height as the motor body 22. The process then proceeds to step S140.

[0041] In step S140, the mirror receiver 12 and the rotating shaft 21 are brought into contact. Specifically, a holding process is performed in which the mirror receiver 12 is held by vacuum suction at the tip of the press-fitting head 63. In this state, the control unit 90 moves the press-fitting head 63 in the press-fitting direction, that is, lowers the press-fitting head 63, to bring the mirror receiver 12 and the rotating shaft 21 into contact.

[0042] The control unit 90 lowers the press-fit head 63 at a predetermined first speed based on the dimensional information of the motor 20 read in step S110, up to a predetermined height position just before the mirror receiver 12 and the rotating shaft 21 come into contact. After that, the control unit 90 further lowers the press-fit head 63 by reducing the lowering speed of the press-fit head 63 to a predetermined second speed that is slower than the first speed. The second speed is, for example, 10 mm / s or less.

[0043] Then, when the load cell 64 detects a predetermined load applied to the press-fit head 63, the control unit 90 determines that the mirror receiver 12 and the rotating shaft 21 have come into contact and stops the lowering of the press-fit head 63. In other words, the load cell 64 transmits information on the load applied to the press-fit head 63, detected at predetermined intervals, to the control unit 90. The control unit 90 monitors the information on the load applied to the press-fit head 63 detected by the load cell 64, and when it detects that the load applied to the press-fit head 63 has reached a predetermined first load, it determines that the mirror receiver 12 and the rotating shaft 21 have come into contact and stops the lowering of the press-fit head 63. The first load is, for example, 5N. After that, the process proceeds to step S150.

[0044] In step S150, the chuck of the motor 20 is released. Specifically, the control unit 90 releases the chuck of the motor 20 by the motor chuck 73. In step S140, the motor 20 is sandwiched from above and below by the motor support 54 and the press-fit head 63, so it will not fall over even when the motor chuck 73 is released. The process then proceeds to step S160.

[0045] In step S160, a press-fit measurement is performed. Specifically, the press-fit measurement in step S160 is a first press-fit measurement for calculating the press-fit amount of the mirror receiver 12 in the following step S170, and the relative distance L between the mirror receiver 12 and the housing 11 is measured. That is, step S160 is a pre-press-fit measurement process in which the position of the non-press-fit side surface 11a of the housing 11 in the direction along the press-fit direction and the position of the stepped surface 63a of the press-fit head 63, which is the press-fit head reference position, in the direction along the press-fit direction are measured, and the relative distance L is measured.

[0046] Figure 6 is a magnified longitudinal cross-sectional view of the measurement area in the press-fitting device according to Embodiment 1. Figure 7 is a magnified transverse cross-sectional view of the measurement area in the press-fitting device according to Embodiment 1. Figure 8 is a conceptual diagram illustrating the dimensions controlled in the press-fitting device according to Embodiment 1.

[0047] As mentioned earlier, the press-fitting accuracy of the mirror mount 12 onto the motor 20's rotating shaft 21 affects the quality of the optical encoder 10, so it is necessary to control the amount of press-fitting the mirror mount 12 onto the motor 20's rotating shaft 21. The press-fitting device 100 controls the relative distance L between the mirror mount 12 and the housing 11 in order to control the amount of press-fitting the mirror mount 12 onto the motor 20's rotating shaft 21.

[0048] However, when managing the relative distance L between the mirror mount 12 and the housing 11, the mirror mount 12 is hidden by the housing 11 and the motor body 22 while the mirror mount 12 is being pressed into the rotating shaft 21, so measurement cannot be performed using the method shown in Figure 1 of Prior Art 1.

[0049] In the press-fitting device 100, the tip length of the press-fitting head 63 is made longer than the target relative distance L0. As a result, during the press-fitting of the mirror receiver 12 onto the rotating shaft 21 of the motor 20, a gap 41 is created between the non-press-fitting side surface 11a of the housing 11, which is the end face on the side opposite to the press-fitting direction, and the stepped surface 63a of the press-fitting head 63. In other words, in the press-fitting device 100, by making the head length 632L of the second press-fitting head portion 632 of the press-fitting head 63 longer than the target relative distance L0, a gap 41 is created between the non-press-fitting side surface 11a of the housing 11 and the stepped surface 63a of the press-fitting head 63 during the press-fitting of the mirror receiver 12 onto the rotating shaft 21 of the motor 20.

[0050] The head tip length of the press-fit head 63 is the head length 632L of the second press-fit head portion 632 of the press-fit head 63, and is the length in the Z-axis direction of the second press-fit head portion 632. Furthermore, the head tip length of the press-fit head 63 is a predetermined known design dimension of the head tip length of the press-fit head 63, that is, a predetermined known design dimension of the head length 632L of the second press-fit head portion 632. The head tip length is predetermined and stored in the control unit 90.

[0051] The stepped surface 63a is the stepped surface in the two-stage structure of the press-fit head 63, the stepped surface between the first press-fit head portion 631 and the second press-fit head portion 632, and the press-fit direction side end face 631a, which is the end face on the press-fit direction side of the first press-fit head portion 631. Furthermore, the position of the stepped surface 63a in the Z-axis direction can be said to be the press-fit head reference position, which is located on the side opposite to the press-fit direction of the press-fit head 63, when the mirror receiver 12, which is a press-fit part, is pressed onto the rotation shaft 21 of the motor 20, and is located on the side opposite to the press-fit direction of the housing 11a, which is an outer peripheral part.

[0052] The relative distance L between the mirror receiver 12 and the housing 11 is the relative distance in the Z-axis direction between the non-press-fit side surface 11a of the housing 11 and the non-press-fit side end surface 12a of the mirror receiver 12, which is the end surface on the non-press-fit direction side. The non-press-fit side end surface 12a of the mirror receiver 12 can be rephrased as the upper surface of the mirror receiver 12. The position of the non-press-fit side end surface 12a of the mirror receiver 12 in the Z-axis direction changes with the movement of the press-fit head 63 in the Z-axis direction, that is, with the movement of the second press-fit head portion 632 in the Z-axis direction. Therefore, the relative distance L between the mirror receiver 12 and the housing 11 changes with the movement of the press-fit head 63 in the Z-axis direction, that is, with the movement of the second press-fit head portion 632 in the Z-axis direction.

[0053] The target relative distance L0 is the relative distance between the mirror receiver 12 and the housing 11 in the Z-axis direction, corresponding to the state in which the mirror receiver 12 is pressed in with a target amount relative to the rotation axis 21 of the motor 20. Specifically, the target relative distance L0 is the relative distance between the non-press-fit side surface 11a of the housing 11 and the non-press-fit side end surface 12a of the mirror receiver 12 in the Z-axis direction, corresponding to the state in which the mirror receiver 12 is pressed in with a target amount relative to the rotation axis 21 of the motor 20. Therefore, the target relative distance L0 does not change with the movement of the press-fit head 63 in the Z-axis direction, that is, with the movement of the second press-fit head portion 632 in the Z-axis direction.

[0054] The target relative distance L0 has a lower limit L1 and an upper limit L2, and has an allowable range between the lower limit L1 and the upper limit L2. The target press-fit amount also has an allowable range. The lower limit L1 is the relative distance L corresponding to the state where the press-fit amount is at the lower limit of the allowable range. The upper limit L2 is the relative distance L corresponding to the state where the press-fit amount is at the upper limit of the allowable range. The information for the target relative distance L0, the lower limit L1, the upper limit L2, the target press-fit amount, and the allowable range of the target press-fit amount are predetermined and stored in the control unit 90.

[0055] In the press-fitting device 100, the length of the gap 41 in the Z-axis direction is measured using a laser line sensor 80 in order to obtain the relative distance L between the mirror receiver 12 and the housing 11. As shown in Figure 6, the laser line sensor 80 emits a laser beam 83 from a light emitter 81 toward the housing 11, the object to be measured, and the press-fitting head 63. The laser beam 83 that passes through to the receiver 82 without being reflected by the object to be measured is detected by the receiver 82, thereby measuring the dimensions of the portion in the Z-axis direction through which the laser beam 83 has passed.

[0056] In the Z-axis direction, the lower end position of the laser beam 83 received by the light receiver 82 is at the height of the housing 11, i.e., the position of the non-press-fit side surface 11a. In the Z-axis direction, the upper end position of the laser beam 83 received by the light receiver 82 is at the height of the stepped surface 63a of the press-fit head 63, i.e., the position of the press-fit side end surface 631a of the first press-fit head portion 631 of the press-fit head 63. Therefore, by measuring the lower end position of the laser beam 83 received by the light receiver 82 and the upper end position of the laser beam 83 received by the light receiver 82, the length of the gap 41 in the Z-axis direction can be measured. The laser line sensor 80 can be described as a position measuring unit that measures the position of the non-press-fit side surface 11a of the housing 11 and the position of the non-press-fit side surface 11a of the first press-fit head portion 631.

[0057] If the position of the press-fitting head 63 and the motor 20 deviates from the assumed positional relationship, that is, if the axial direction of the press-fitting head 63 and the axial direction of the rotation axis 21 of the motor 20 are inclined, an error will occur in the length of the gap 41 in the Z-axis direction measured using the laser line sensor 80. For this reason, it is preferable to reduce the error by calculating the average value of the values ​​measured at two symmetrical locations with respect to the center position of the rotation axis 21 of the motor 20 in the Y-axis direction.

[0058] In other words, it is preferable that the laser line sensor 80 measures the length of the gap 41 at two locations symmetrical with respect to the center position of the rotation axis 21 of the motor 20 in the in-plane direction perpendicular to the press-fitting direction. This allows the length of the gap 41 at the center position of the rotation axis 21 of the motor 20 to be calculated even if the orientation of the press-fitting head 63 and the motor 20 deviates from the assumed positional relationship, thereby improving the press-fitting accuracy of the mirror receiver 12.

[0059] As shown in Figure 7, the laser line sensor 80 measures the length of the gap 41 in the Z-axis direction at two locations, a first measurement position and a second measurement position, which are symmetrical with respect to the center position of the rotation axis 21 of the motor 20 in the Y-axis direction. The control unit 90 calculates the average value of the measured length of the gap 41 at the first measurement position and the measured length of the gap 41 at the second measurement position, and uses this as the length of the gap 41 in the Z-axis direction.

[0060] The control unit 90 then calculates the relative distance L by subtracting the measured gap length 41 from the predetermined head tip length of the press-fit head 63, that is, the predetermined head length 632L of the second press-fit head section 632. In other words, the control unit 90 calculates the relative distance L using the formula "relative distance L = head tip length of press-fit head 63 (= head length 632L of the second press-fit head section 632) - gap length 41". After that, the process proceeds to step S170.

[0061] In step S170, the first target press-fit amount, which is the target press-fit amount for the first press-fit of the mirror receiver 12 onto the rotation shaft 21 of the motor 20, is calculated. Specifically, the control unit 90 calculates the first target press-fit amount by subtracting the relative distance L obtained in step S160 from the lower limit L1 of the target relative distance L0. The control unit 90 determines this first target press-fit amount as the first stroke amount, which is the stroke amount that lowers the press-fit rod 61 from its current position in the Z-axis direction. The first target press-fit amount is the target press-fit amount for the first press-fit, which is less than the target press-fit amount determined based on the information acquired by the laser line sensor 80 and the lower limit L1 of the target relative distance L0. The first stroke amount is the press-fit stroke amount for the first press-fit, which is less than the stroke amount corresponding to the target press-fit amount. The process then proceeds to step S180.

[0062] In step S180, the mirror mount 12 is pressed onto the rotating shaft 21 of the motor 20. Step S180 is the first press-fitting process in which the mirror mount 12 is pressed in with a first target press-fitting amount, which is less than the target press-fitting amount, and is determined based on the information obtained in step S160, which is a pre-press-fitting measurement process. Step S180 is also the first press-fitting process in which the mirror mount 12 is pressed in with a first stroke amount that is less than the stroke amount corresponding to the target press-fitting amount. In other words, in the first press-fitting process, the mirror mount 12 is pressed onto the rotating shaft 21 of the motor 20 with a first stroke amount that is less than the target press-fitting amount.

[0063] In the first press-fit, the control unit 90 controls the lowering of the press-fitting rod 61 by a first stroke amount calculated in step S170 to perform the first press-fit of the mirror receiver 12 onto the rotating shaft 21 of the motor 20. That is, the control unit 90 controls the first press-fit to press-fit the mirror receiver 12 with a first stroke amount that is less than the stroke amount corresponding to the target press-fit amount determined based on the relative distance L. When the first press-fit is completed, the control unit 90 stops the press-fitting rod 61 and keeps the press-fitting rod 61, the mirror receiver 12, and the rotating shaft 21 in contact. That is, the control unit 90 keeps the press-fitting head 63 and the mirror receiver 12 in contact. Then proceed to step S190. In the second press-fit, the control unit 90 controls the lowering of the press-fitting rod 61 by a second stroke amount, which will be described later, to perform the press-fit of the mirror receiver 12 onto the rotating shaft 21 of the motor 20.

[0064] In step S190, press-fit measurement is performed. Step S190 is a post-press-fit measurement process performed after the first press-fit, in which the relative distance L and the load applied to the mirror receiver 12 and the press-fit head 63 are measured. The press-fit measurement in step S190 is the second press-fit measurement, and in addition to measuring the gap 41 as in step S170, the load M applied to the motor 20 and the press-fit rod 61, i.e., the load M applied to the motor 20 and the press-fit head 63, is measured by the load cell 64. In this case, since the measurement is taken with a load applied to the press-fit rod 61, the tip of the press-fit rod 61 is compressed, i.e., the tip of the press-fit head 63 is compressed and deformed, and this amount of deformation becomes a measurement error. For this reason, the material and shape of the press-fit head 63 are designed in advance so that the amount of deformation of the tip of the press-fit head 63 is 1 / 10 or less of the required press-fit accuracy, thereby reducing the error. After that, the process proceeds to step S200.

[0065] In step S200, it is determined whether the relative distance L after the first press-fit is within the allowable range of the target relative distance L0. Specifically, the control unit 90 determines the relative distance L after the first press-fit in the same manner as in step S160, based on the measurement result of the gap 41 in step S190. The control unit 90 then determines whether the relative distance L after the first press-fit is within the range of the lower limit L1 of the allowable range of the target relative distance L0 and the upper limit L2 of the allowable range of the target relative distance L0.

[0066] If it is determined that the relative distance L after the first press-fit is within the allowable range of the target relative distance L0, the answer in step S200 is Yes, and the process proceeds to step S210. If it is determined that the relative distance L after the first press-fit is not within the allowable range of the target relative distance L0, the answer in step S200 is No, and the process proceeds to step S220.

[0067] In step S210, a good product determination is performed to confirm that a good product has been manufactured. Specifically, the control unit 90 performs a good product determination to confirm that a good product has been manufactured. The control unit 90 controls, for example, a display unit (not shown) to display a message indicating that a good product has been manufactured. With this, the series of processes is completed.

[0068] In step S220, it is determined whether the relative distance L after the first press-fit is greater than the upper limit L2 of the allowable range of the target relative distance L0. Specifically, the control unit 90 determines whether the relative distance L after the first press-fit is greater than the upper limit L2 of the allowable range of the target relative distance L0.

[0069] If it is determined that the relative distance L after the first press-fit is greater than the upper limit L2 of the allowable range of the target relative distance L0, it means that the mirror receiver 12 has been excessively pressed in beyond the allowable range of the target relative distance L0, and the answer in step S220 is Yes, and the process proceeds to step S230. If it is determined that the relative distance L after the first press-fit is not greater than the upper limit L2 of the allowable range of the target relative distance L0, it means that the amount of press-fitting of the mirror receiver 12 is insufficient to reach the allowable range of the target relative distance L0, and additional press-fitting is required, and the answer in step S220 is No, and the process proceeds to step S240.

[0070] In step S230, a defect determination is made to determine that a defective product has been manufactured. Specifically, the control unit 90 makes a defect determination to determine that a defective product has been manufactured. The control unit 90 controls, for example, a display unit (not shown) to display a message indicating that a defective product has been manufactured. With this, the series of processes is completed.

[0071] In step S240, the second target press-fit amount is calculated. Step S240 is a calculation process that calculates a correction value for the press-fit amount to correct the press-fit amount in order to press-fit the mirror receiver 12 with the target press-fit amount, based on the information obtained in step S190, which is the measurement process after the first press-fit. Specifically, the control unit 90 determines that the current press-fit state of the mirror receiver 12 on the rotating shaft 21 of the motor 20 is insufficient in terms of press-fit amount, and in order to press-fit again, it calculates the second target press-fit amount, which is the press-fit amount from the current press-fit state after the first press-fit and is the target press-fit amount to be targeted for the second press-fit, based on the relative distance L and load M obtained in step S190. In other words, the second target press-fit amount is the target press-fit amount to be targeted for the second press-fit, which was determined based on the information obtained from the measurement unit 70 for the first press-fit. The second target press-fit amount is a correction value for the press-fit amount used to perform a second press-fit to correct the press-fit amount of the mirror receiver 12 after the first press-fit, in order to press-fit the mirror receiver 12 to the target press-fit amount.

[0072] First, the control unit 90 calculates the target press-fit amount based on the relative distance L after the first press-fit, in the same manner as in steps S160 and S170, based on the measured length of the gap 41. The control unit 90 obtains the relative distance L after the first press-fit by subtracting the length of the gap 41 measured in step S190 from the predetermined head tip length of the press-fit head 63, i.e., the predetermined head length 632L of the second press-fit head section 632. In other words, the control unit 90 obtains the relative distance L after the first press-fit using the formula "relative distance L = head tip length of press-fit head 63 (= head length 632L of the second press-fit head section 632) - length of gap 41".

[0073] The control unit 90 then subtracts the relative distance L after the first press-fit from the lower limit L1 of the target relative distance L0 to calculate the target press-fit amount based on the relative distance L after the first press-fit.

[0074] Furthermore, because the motor 20 also shrinks in the Z-axis direction due to the press-fitting load, the mirror receiver 12 is pressed in more shallowly than expected. For this reason, the amount of deformation of the motor 20's rotation axis 21 is taken into consideration during the second press-fitting. In the press-fitting device 100, the lower end position of the laser beam 83 received by the light receiver 82 is the height position of the housing 11 in the Z-axis direction, so the change in the height position of the housing 11 before press-fitting and after the first press-fitting can be confirmed. The height position of the housing 11 is the position of the anti-press-fitting side surface 11a, which is the end face of the housing 11 on the side opposite to the press-fitting direction in the Z-axis direction.

[0075] The change in the height position of the housing 11 before press-fitting and after the first press-fitting is the amount of deformation of the motor 20 in the Z-axis direction due to the press-fitting load during the first press-fitting. The control unit 90 acquires and stores the detection information of the laser line sensor 80 before press-fitting and after the first press-fitting. Based on this detection information, the control unit 90 can calculate the amount of deformation of the motor 20 due to the press-fitting load during the first press-fitting. By acquiring and storing the detection information of the laser line sensor 80 before and after press-fitting, the control unit 90 can similarly calculate the amount of deformation of the motor 20 for subsequent press-fittings.

[0076] The control unit 90 then calculates a second target press-fit amount by adding the deformation amount of the motor 20 due to the first press-fit load to the target press-fit amount based on the relative distance L after the first press-fit. The control unit 90 then determines this second target press-fit amount as the second stroke amount. After that, the process returns to step S180.

[0077] Step S180 is a second press-fitting step in which the press-fitting part is pressed in with a second stroke amount determined based on the information acquired in step S190, which is a measurement step after the first press-fitting. In other words, the control unit 90 controls the second press-fitting in which the mirror receiver 12 is pressed in with a second stroke amount determined based on the information acquired from the measurement unit 70 for the first press-fitting.

[0078] In the press-fitting device 100 according to the above-described embodiment 1, the control unit 90 can calculate the relative distance L between the mirror receiver 12 and the housing 11, using the anti-press-fitting direction end face 12a, which is the upper surface of the mirror receiver 12 and the end face on the side opposite to the press-fitting direction of the mirror receiver 12, as a reference. Then, the control unit 90 can determine the actual press-fitting amount after press-fitting based on the relative distance L between the mirror receiver 12 and the housing 11 and the allowable range of the target relative distance L0. As a result, the control unit 90 can determine the actual press-fitting amount, which does not include the amount of elastic deformation of the motor 20, which is the part to be press-fitted.

[0079] Furthermore, the press-fitting device 100 can confirm the change in the height position of the housing 11 before press-fitting and after the first press-fitting based on the lower end position of the laser beam 83 received by the light receiver 82. The amount of change in the height position of the housing 11 before press-fitting and after the first press-fitting becomes the amount of deformation of the motor 20 in the Z-axis direction due to the press-fitting load during the first press-fitting. Therefore, the control unit 90 can accurately measure the amount of elastic deformation of the motor 20 rather than calculating it as a predicted value.

[0080] The control unit 90 then calculates the second target press-fit amount by adding the deformation amount of the motor 20 due to the first press-fit load to the press-fit amount based on the relative distance L after the first press-fit. The control unit 90 then determines the second target press-fit amount as the second stroke amount and performs the second press-fit with this second stroke amount. As a result, the press-fit device 100 can improve the accuracy of the second press-fit, taking into account the elastic deformation amount of the motor 20.

[0081] Furthermore, the press-fitting device 100 measures the length of the gap 41 between the non-press-fitting side surface 11a, which is the end face of the housing 11 on the side opposite to the press-fitting direction, and the stepped surface 63a of the press-fitting head 63 using a laser line sensor 80. The control unit 90 then calculates the relative distance L by subtracting the measured gap 41 length from the known head length 632L of the known second press-fitting head section 632. As a result, the press-fitting device 100 can accurately determine the relative distance L between the mirror receiver 12 and the housing 11, even if the mirror receiver 12, which is a press-fitted part, is hidden between the housing 11 and the motor body 22 of the motor 20, which is the part to be press-fitted.

[0082] Therefore, the press-fitting device 100 according to Embodiment 1 has the effect of being able to press-fit a press-fitting part into a part to be press-fitted with high precision.

[0083] Embodiment 2. Embodiment 2 describes a case in which a learning device and an inference device are used to calculate the second target press-fit amount, which is the target press-fit amount for the second press-fit in step S240 of Figure 5 in Embodiment 1 described above. Specifically, the control unit 90 has a machine learning device 200 comprising a learning device 210 and an inference device 220, and the calculation of the second target press-fit amount is performed using the machine learning device.

[0084] First, we will explain the learning phase in the learning device 210 of the machine learning device 200.

[0085] The learning device 210 learns a second target press-fit amount, which is the target press-fit amount to be used for the second press-fit, based on the learning data. The learning device 210 learns a second target press-fit amount, which is the target press-fit amount to be used for the second press-fit, based on the learning data acquired during the press-fitting of the mirror receiver 12 onto the rotating shaft 21 of the motor 20, which is input to the learning device 210. As a result, the learning device 210 can learn the second target press-fit amount by taking into account various factors that cause variations in the press-fit amount of the mirror receiver 12 onto the rotating shaft 21 of the motor 20, such as the amount of deformation of the mirror receiver 12, which is a press-fit part, the amount of deformation of the motor 20, which is a press-fit part, and the variation in the coefficient of friction between the press-fit part and the press-fit part.

[0086] Figure 9 shows the configuration of the learning device according to Embodiment 2. The learning device 210 comprises a data acquisition unit 211, a model generation unit 212, and a learned model storage unit 213. The data acquisition unit 211 is the first data acquisition unit in the press-fitting device 100. The learned model storage unit 213 may be provided inside the learning device 210.

[0087] The data acquisition unit 211 acquires input information 231 and press-fit amount information 232 as training data. The press-fit amount information 232 is information on the actual press-fit amount in the second press-fit in the state corresponding to input information 231. Since the press-fit amount is managed by the relative distance L between the mirror receiver 12 and the housing 11, the actual press-fit amount in the second press-fit in the state corresponding to input information 231 is managed by the actual relative distance L in the second press-fit in the state corresponding to input information 231.

[0088] The input information 231 includes information on the press-fitting state during the first press-fitting and information on the press-fitting parameters during the second press-fitting. The information on the press-fitting state during the first press-fitting includes information on the press-fitting state during the first press-fitting and information on the press-fitting state after the first press-fitting. Furthermore, the information on the press-fitting state during the first press-fitting includes time-series data information on the press-fitting state during the first press-fitting. The learning device 210 can perform more accurate learning and generate a more accurate trained model 233 by using the time-series data information on the press-fitting state during the first press-fitting, which is more detailed information on the press-fitting state during the first press-fitting, as training data.

[0089] The information regarding the press-fitting state during the first press-fit includes information on the position of the non-press-fitting side surface 11a, which is the end face of the housing 11 on the side opposite to the press-fitting direction, information on the position of the stepped surface 63a of the press-fitting head 63, information on the relative distance L, and information on the load applied to the press-fitting head 63. The relative distance L can be calculated using the information on the position of the non-press-fitting side surface 11a and the information on the position of the stepped surface 63a of the press-fitting head 63.

[0090] The press-fit parameter information for the second press-fit includes information on the uncorrected second stroke amount. This uncorrected second stroke amount information included in the press-fit parameter information for the second press-fit corresponds to the "target press-fit amount based on the relative distance L after the first press-fit" described in step S240 of Embodiment 1 above, and is the press-fit stroke amount for the second press-fit that does not take into account the effects of various factors that cause variations in the press-fit amount of the mirror receiver 12 onto the rotation shaft 21 of the motor 20, such as the amount of deformation of the motor 20 due to the first press-fit load and variations in the coefficient of friction between the mirror receiver 12, which is a press-fit part, and the rotation shaft 21 of the motor 20, which is the part to be press-fitted.

[0091] Furthermore, the uncorrected second stroke amount is determined as the uncorrected second stroke amount based on the target press-fit amount calculated based on the relative distance L after the first press-fit, as described in step S240 of Embodiment 1 described above. That is, for example, the control unit 90 calculates the target press-fit amount based on the relative distance L after the first press-fit, as described in step S240 of Embodiment 1 described above, and determines the target press-fit amount based on the relative distance L after the first press-fit as the uncorrected second stroke amount.

[0092] The press-fit amount information 232 is information about the actual press-fit amount in the second press-fit that corresponds to the state shown in the input information 231. Specifically, the press-fit amount information 232 is information about the actual press-fit amount of the mirror receiver 12 after the second press-fit, corresponding to the state shown in the input information 231, which corresponds to the information about the press-fit state of the mirror receiver 12 in the first press-fit and the information about the second stroke amount before correction, which is acquired by the measuring unit 70 in the first press-fit. In other words, the press-fit amount information 232 is not information about the amount the mirror receiver 12 was pressed in by the second press-fit, but rather information about the actual press-fit amount of the mirror receiver 12 after the second press-fit that corresponds to the state shown in the input information 231.

[0093] The amount of material pressed in during the second press-fit can be determined by comparing the relative distance L before press-fitting with the relative distance L after the second press-fitting. Therefore, after the second press-fitting process, a second post-press-fitting measurement process is performed in which the position of the non-press-fitting side surface 11a, which is the end face of the housing 11 on the side opposite to the press-fitting direction, the position of the stepped surface 63a of the press-fitting head 63, the relative distance L, and the load applied to the press-fitting head 63 are measured, allowing the data acquisition unit 211 to acquire press-fitting amount information 232.

[0094] Therefore, the learning data acquired by the data acquisition unit 211, which includes input information 231 and press-fit amount information 232, can be rephrased as learning data that includes information on the press-fit state during the first press-fit acquired by the measurement unit 70 during the first press-fit, information on the second stroke amount before correction, and information on the actual press-fit amount after the second press-fit, which corresponds to the information on the press-fit state during the first press-fit and the information on the second stroke amount before correction acquired by the measurement unit 70 during the first press-fit.

[0095] Here, the training data is data that associates the input information 231 and the press-fit amount information 232 with each other. The data acquisition unit 211 acquires the training data from the control unit 90. The training data may also be input to the data acquisition unit 211 from an external device of the control unit 90. The data acquisition unit 211 generates the training data by associating the input information 231 with the press-fit amount information 232. In other words, the training data is training data created based on the combination of the input information 231 and the press-fit amount information 232 corresponding to the state shown in the input information 231.

[0096] The model generation unit 212 learns the amount of the mirror receiver 12 after the second press-fit, based on training data created based on the combination of input information 231 and press-fit amount information 232 corresponding to the state shown in input information 231, which are sent from the data acquisition unit 211. In other words, the model generation unit 212 generates a trained model 233 for inferring the amount of the mirror receiver 12 after the second press-fit, corresponding to the state shown in input information 231, from the input information 231 and the press-fit amount information 232 corresponding to the state shown in input information 231.

[0097] Next, the processing procedure of the learning device 210 will be explained using Figure 10. Figure 10 is a flowchart showing the processing procedure of the learning device according to Embodiment 2.

[0098] In step S310, the data acquisition unit 211 acquires training data. Specifically, the data acquisition unit 211 acquires input information 231 and press-fit amount information 232 corresponding to the state indicated in input information 231 as training data. The data acquisition unit 211 may acquire input information 231 and press-fit amount information 232 corresponding to the state indicated in input information 231 at the same time, or at different times. In other words, as long as the data acquisition unit 211 can associate input information 231 with press-fit amount information 232 corresponding to the state indicated in input information 231, it may acquire input information 231 and press-fit amount information 232 at any time.

[0099] In step S320, the model generation unit 212 performs a learning process according to the training data, which is a combination of input information 231 and press-fit amount information 232 corresponding to the state indicated in the input information 231, acquired by the data acquisition unit 211. The model generation unit 212 generates a trained model 233, for example, by so-called supervised learning according to the training data.

[0100] In step S330, the trained model storage unit 213 stores the trained model 233. That is, the model generation unit 212 causes the generated trained model 233 to be stored in the trained model storage unit 213.

[0101] The model generation unit can use any known learning algorithm, such as supervised learning, unsupervised learning, or reinforcement learning. As an example, we will describe the case where the model generation unit 212 performs supervised learning using a neural network.

[0102] The model generation unit 212 learns, for example, a second target indentation amount, which is the target indentation amount to be used for the second indentation, by so-called supervised learning, following a neural network model. Here, supervised learning is a method in which a learning device is given pairs of input and result (label) data, learns features in those training data, and infers the result from the input.

[0103] A neural network consists of an input layer made up of multiple neurons, a hidden layer (intermediate layer) also made up of multiple neurons, and an output layer also made up of multiple neurons. The hidden layer can be one or more layers.

[0104] Figure 11 shows the configuration of the neural network used in the learning device according to Embodiment 2. For example, in a three-layer neural network as shown in Figure 11, when multiple data are input to input layers X1 to X3, these values ​​are multiplied by weights w11 to w16 and input to hidden layers Y1 to Y2, and the result is further multiplied by weights w21 to w26 and output from output layers Z1 to Z3. This output result varies depending on the values ​​of weights w11 to w16 and weights w21 to w26.

[0105] In Embodiment 2, the neural network learns the second target indentation amount, which is the target indentation amount to be used for the second indentation, by so-called supervised learning, according to the training data (dataset) created based on the combination of input information 231 acquired by the data acquisition unit 211 and indentation amount information 232.

[0106] In other words, the neural network learns by inputting input information 231 into input layers X1 to X3 and adjusting the weights w11 to w16 and w21 to w26 so that the output from output layers Z1 to Z3 approaches the indentation amount information 232 that corresponds to the state shown in the input information 231.

[0107] The model generation unit 212 generates and outputs a trained model 233 by performing the training described above.

[0108] The trained model storage unit 213 stores the trained model 233 output from the model generation unit 212.

[0109] Next, we will explain the application phase of the machine learning device 200 in the inference device 220.

[0110] Figure 12 shows the configuration of the inference device according to Embodiment 2. The inference device 220 comprises a data acquisition unit 221 and an inference unit 222. The data acquisition unit 221 is the second data acquisition unit in the press-fitting device 100. The inference unit 222 is connected to the trained model storage unit 213.

[0111] The data acquisition unit 221 acquires information on the press-fitting state during the first press-fitting and the second stroke amount before correction as inference data. The inference data is input from the control unit 90 to the data acquisition unit 221.

[0112] The inference unit 222 uses the obtained trained model 233 to output an estimated value of the amount of press-fitting performed on the second press-fitting of the mirror receiver 12. The inference unit 222 reads the trained model 233 from the trained model storage unit 213. The inference unit 222 inputs the input information 231 to the trained model 233. As a result, the inference unit 222 infers the second target press-fitting amount, which is the target press-fitting amount to be used for the second press-fitting. In other words, the inference unit 222 can output an estimated value of the press-fitting amount performed on the second press-fitting by inputting the input information 231, which is inferred from the input information 231, to the trained model 233 for inferring the estimated value of the press-fitting amount performed on the second press-fitting.

[0113] The inferred value for the amount of press-fitting of the mirror receiver 12 during the second press-fitting is the second target press-fitting amount, which is the target press-fitting amount used for the second press-fitting of the mirror receiver 12 inferred by the inference unit 222. It is not an inferred value for the amount of press-fitting of the mirror receiver 12 in the second press-fitting based on the state after the first press-fitting, but rather an inferred value for the amount of press-fitting of the mirror receiver 12 after the second press-fitting.

[0114] Next, using Figure 13, we will explain the processing procedure of the inference device 220 for obtaining the second target press-fit amount, which is the target press-fit amount used for the second press-fit of the mirror receiver 12, that is, for obtaining the inferred value of the press-fit amount after the second press-fit of the mirror receiver 12. Figure 13 is a flowchart showing the processing procedure of the inference device according to Embodiment 2.

[0115] In step S410, the data acquisition unit 221 acquires inference data. Specifically, the data acquisition unit 221 acquires information on the press-fitting state during the first press-fitting and information on the second stroke amount before correction as inference data.

[0116] In step S420, the inference unit 222 inputs the inference data acquired by the data acquisition unit 221, namely the press-fitting state information during the first press-fitting and the information on the second stroke amount before correction, into the trained model 233 stored in the trained model storage unit 213. As an inference result obtained by the trained model 233, the inference unit obtains an inference value for the press-fitting amount during the second press-fitting of the mirror receiver 12 corresponding to the input information.

[0117] In step S430, the inference result obtained by the trained model 233 is output to the press-fitting device 100. Specifically, the inference unit 222 outputs the inference result obtained by the trained model 233 to the control unit 90.

[0118] In step S440, the control unit 90 performs the above-described step S 430 In this process, the inference result output by the inference unit 222 is acquired, and the uncorrected second stroke amount is corrected by the difference between the inferred press-fit amount and the target press-fit amount to determine the final second stroke amount, and the second press-fit is performed with this second stroke amount. In other words, in Embodiment 2, the press-fit amount of the mirror receiver 12 when the second press-fit of the mirror receiver 12 is performed with an uncorrected second stroke amount that does not take into account the effects of various factors that cause variations in the press-fit amount of the mirror receiver 12 onto the rotating shaft 21 of the motor 20, such as the amount of deformation of the motor 20 due to the first press-fit load and variations in the coefficient of friction between the mirror receiver 12, which is a press-fit part, and the rotating shaft 21 of the motor 20, which is the part to be press-fitted, is learned and inferred, and the second press-fit of the mirror receiver 12 is performed with a final second stroke amount obtained by adding "target press-fit amount - inferred press-fit amount" to the uncorrected second stroke amount. As a result, the press-fitting device 100 can accurately press-fit the mirror receiver 12 onto the motor 20's rotating shaft 21 even when there are various factors that cause variations in the amount of press-fitting of the mirror receiver 12 onto the motor 20's rotating shaft 21, such as the amount of deformation between the mirror receiver 12 and the motor 20's rotating shaft 21, and variations in the coefficient of friction between the mirror receiver 12 and the motor 20's rotating shaft 21.

[0119] Thus, since the inference unit 222 uses the trained model 233 generated by supervised learning, it can easily infer a value for the amount of press-fitting performed in the second press-fitting, taking into account various factors that cause variations in the amount of press-fitting of the mirror receiver 12 onto the motor 20's rotation shaft 21, such as the amount of deformation between the mirror receiver 12 and the motor 20's rotation shaft 21, and the variation in the friction coefficient between the mirror receiver 12 and the motor 20's rotation shaft 21. As a result, the press-fitting device 100 can use the inference value for the amount of press-fitting performed in the second press-fitting inferred by the inference unit 222 to perform a second press-fitting with good press-fitting accuracy.

[0120] The learning device 210 and the inference device 220 are used to learn the second press-fit amount, that is, to learn the inferred press-fit amount value from the second press-fit. However, the learning device 210 and the inference device 220 may be separate devices from the control unit 90, connected to the control unit 90 via a network such as the Internet. At least one of the learning device 210 and the inference device 220 may be connected to the control unit 90 via a network, for example. At least one of the learning device 210 and the inference device 220 may be separate devices from the control unit 90. Furthermore, at least one of the learning device 210 and the inference device 220 may reside on a cloud server. At least one of the learning device 210 and the inference device 220 may be built into the control unit 90.

[0121] Furthermore, in Embodiment 2, it was explained that the pre-trained model 233 learned by the model generation unit 212 of the control unit 90 is used to output the inferred value of the press-fitting amount for the second press-fitting. However, a pre-trained model may be obtained from another external device such as another control unit 90, and the inferred value of the press-fitting amount for the second press-fitting may be output based on this pre-trained model.

[0122] Furthermore, while Embodiment 2 described a case where supervised learning is applied to the learning algorithm used by the model generation unit 212, it is not limited to this. In addition to supervised learning, reinforcement learning, unsupervised learning, or semi-supervised learning can also be applied to the learning algorithm.

[0123] Furthermore, the model generation unit may learn the estimated value of the press-fit amount for the second press-fit based on the training data created for multiple press-fit devices 100. The model generation unit 212 may acquire training data from multiple press-fit devices 100 used in the same area, or it may learn the second target press-fit amount, which is the target press-fit amount used for the second press-fit, by using training data collected from multiple press-fit devices 100 operating independently in different areas. It is also possible to add or remove press-fit devices 100 from the target midway through the process. Moreover, a learning device that has learned the second target press-fit amount, which is the target press-fit amount used for the second press-fit, for a certain press-fit device 100 may be applied to another press-fit device 100, and the second target press-fit amount, which is the target press-fit amount used for the second press-fit, for that other press-fit device 100 may be retrained and updated.

[0124] Furthermore, the learning algorithm used in the model generation unit 212 can be deep learning, which learns to extract the features themselves, or machine learning can be performed according to other known methods, such as genetic programming, functional logic programming, or support vector machines.

[0125] Next, the hardware configurations of the control unit 90 according to Embodiments 1 and 2 will be described. Each function of the control unit 90 according to Embodiments 1 and 2 is realized by a processing circuit. The processing circuit may be dedicated hardware, or it may be a processing unit that executes a program stored in a memory device.

[0126] When the processing circuit is dedicated hardware, the processing circuit may be a single circuit, a complex circuit, a programmed processor, a parallel programmed processor, an application-specific integrated circuit, a field-programmable gate array, or a combination thereof. Figure 14 shows a configuration in which the functions of the control unit according to Embodiments 1 and 2 are realized in hardware. The processing circuit 91 incorporates a logic circuit 91a that realizes the functions of the control unit 90.

[0127] If the processing circuit 91 is a processing unit, the functions of the control unit 90 are realized by software, firmware, or a combination of software and firmware.

[0128] Figure 15 shows a configuration in which the functions of the control unit according to Embodiments 1 and 2 are implemented by software. The processing circuit 91 includes a processor 911 that executes program 91b, a random access memory 912 used by the processor 911 as a work area, and a storage device 913 that stores program 91b. The functions of the control unit 90 are realized when the processor 911 loads program 91b stored in the storage device 913 onto the random access memory 912 and executes it. The software or firmware is written in a programming language and stored in the storage device 913. The processor 911 can be a central processing unit, but is not limited to that. The storage device 913 can be a semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), or EEPROM (Electrically Erasable Programmable Read Only Memory). The semiconductor memory may be non-volatile memory or volatile memory. Furthermore, the storage device 913 can be a magnetic disk, flexible disk, optical disk, compact disk, minidisc, or DVD (Digital Versatile Disc) in addition to semiconductor memory. The processor 911 may output data such as calculation results to the storage device 913 for storage, or it may store such data in an auxiliary storage device (not shown) via the random access memory 912. By integrating the processor 911, random access memory 912, and storage device 913 onto a single chip, the functions of the control unit 90 can be realized by a microcomputer.

[0129] The processing circuit 91 realizes the functions of the control unit 90 by reading and executing the program 91b stored in the memory device 913. The program 91b can also be described as instructing the computer to execute the procedures and methods for realizing the functions of the control unit 90.

[0130] Furthermore, the processing circuit 91 may implement some of the functions of the control unit 90 using dedicated hardware, and some of the functions of the control unit 90 using software or firmware.

[0131] Thus, the processing circuit 91 can realize each of the above-mentioned functions through hardware, software, firmware, or a combination thereof.

[0132] The configurations shown in the above embodiments are examples only, and it is possible to combine them with other known technologies, combine different embodiments, and omit or modify parts of the configuration without departing from the gist of the invention.

[0133] The various aspects of this disclosure are summarized below as an appendix.

[0134] (Note 1) A press-fitting device that presses a part to be pressed into a part to be pressed with a target press-fitting amount, The press-fitting head has an end face on the press-fitting direction side that faces the press-fitting direction, which is the direction in which the press-fitting part is pressed into the part to be pressed, and A drive unit that drives the press-fitting head in the press-fitting direction to press the press-fitting part against the part to be press-fitted, A press-fit drive unit having, A position measuring unit measures the relative distance between the position in the direction of the press-fitting direction of the end face on the side opposite to the press-fitting direction of the outer peripheral component, which is integrated with the part to be press-fitted and positioned on the outer peripheral side of the press-fitting component and the part to be press-fitted during press-fitting, and the position in the direction of the press-fitting direction of the press-fitting head reference position, which is located on the side opposite to the press-fitting direction of the end face on the outer peripheral component on the side opposite to the press-fitting direction of the outer peripheral component when the press-fitting component is press-fitted into the part to be press-fitted. A load detection unit that detects the load applied to the press-fit head, A measuring unit having, A control unit controls the press-fit drive unit based on the information acquired by the measuring unit to control the movement of the press-fit head in the press-fit direction, Equipped with, The control unit, The first press-fit is controlled to press-fit the part with a first stroke amount that is less than the target press-fit amount determined based on the relative distance, The second press-fitting operation, in which the press-fitted part is pressed in, is controlled by a second stroke amount determined based on the information obtained from the measuring unit for the first press-fitting operation. A press-fitting device characterized by the following. (Note 2) The position measurement unit, A light projector that irradiates the press-fit head and the outer peripheral component with a sheet-shaped laser beam parallel to the direction along the press-fit direction, A light receiver that detects the amount of light from the laser beam to measure the position of the end face of the outer peripheral component on the side opposite to the press-fit direction in the direction along the press-fit direction, and the position of the press-fit head reference position in the direction along the press-fit direction. To be equipped, The press-fitting device described in Appendix 1, characterized by the above. (Note 3) The system includes a transfer unit that moves the light emitter and the light receiver in a direction perpendicular to the press-fitting direction, The position measuring unit measures at two locations symmetrically with respect to the center position of the part to be press-fitted in the in-plane direction perpendicular to the press-fitting direction, in a direction perpendicular to the press-fitting direction. A press-fitting device as described in Appendix 2, characterized by the above. (Note 4) A first data acquisition unit acquires learning data including information on the press-fit state of the press-fit part during the first press-fit, acquired by the measuring unit during the first press-fit; information on the second stroke amount; and information on the press-fit amount of the press-fit part after the second press-fit, corresponding to the information on the press-fit state of the press-fit part during the first press-fit and the information on the second stroke amount, acquired by the measuring unit during the first press-fit. A model generation unit generates a trained model for inferring an inferred value of the press-fit amount, which is the press-fit amount of the press-fit part after the second press-fit, from the press-fit state information of the press-fit part during the first press-fit acquired by the measurement unit during the first press-fit, using the aforementioned training data. The learning device has the following features: A press-fitting device as described in any one of the appendices 1 to 3, characterized by the above. (Note 5) The information on the press-fitting state of the press-fitted part acquired by the measuring unit during the first press-fitting includes time-series data of the press-fitting amount and time-series data of the press-fitting load. A press-fitting device as described in Appendix 4, characterized by the above. (Note 6) A second data acquisition unit acquires information on the press-fitting state of the press-fitted part during the first press-fitting, which is acquired by the measuring unit during the first press-fitting. An inference unit that uses a trained model to infer an inferred inferred inferred inferred value, which is the amount of the press-fitted part after the second press-fit, from the press-fitting state information of the press-fitted part during the first press-fit acquired by the measurement unit during the first press-fit, and infers the press-fitting amount inferred value from the press-fitting state information of the press-fitted part during the first press-fit acquired by the second data acquisition unit, The inference device has the following features: A press-fitting device as described in any one of the appendices 1 to 5, characterized by the above. (Note 7) The second stroke amount is a correction value for the stroke amount used to perform a second press-fitting operation, which corrects the press-fitting amount of the press-fitted part after the first press-fitting operation in order to press-fit the press-fitted part to the target press-fitting amount. A press-fitting device as described in any one of the appendices 1 to 6, characterized by the above. (Note 8) A press-fitting method in which a press-fitting device presses a press-fitting part into a part to be press-fitted with a target press-fitting amount, A holding step of the press-fitting head, which holds the press-fitting part on the end face on the press-fitting direction side that faces the press-fitting direction, which is the direction in which the press-fitting part is pressed into the part to be press-fitted, A pre-press-fit measurement step, which measures the relative distance between the position in the direction of press-fitting and the position in the direction of press-fitting of the end face on the side opposite to the press-fitting direction of the outer peripheral component, which is integrated with the part to be press-fitted and positioned on the outer peripheral side of the part to be press-fitted during press-fitting, and the position in the direction of press-fitting of the press-fitting head reference position, which is located on the side opposite to the press-fitting direction of the end face on the outer peripheral component on the side opposite to the press-fitting direction of the outer peripheral component when the part to be press-fitted is pressed into the part to be press-fitted, A first press-fitting step in which the press-fitting part is pressed in with a first stroke amount that is less than the target press-fitting amount, which is determined based on the relative distance obtained in the pre-press-fitting measurement step, A first post-press-fitting measurement step is performed after the first press-fitting, in which the relative distance and the load applied to the press-fitted part are measured. A calculation step to calculate a second stroke amount by adding the amount of deformation of the part to be pressed due to the load applied to the part to be pressed, which is determined based on the information obtained in the pre-press measurement step and the information obtained in the first post-press measurement step, to the press-fit amount determined based on the relative distance obtained in the first post-press measurement step, A second press-fitting step in which the press-fit part is pressed in with the second stroke amount, A press-fitting method characterized by including the following. (Note 9) A second post-press-fitting measurement step is performed after the second press-fitting step, which measures the position of the end face of the outer peripheral part on the side opposite to the press-fitting direction in the direction along the press-fitting direction, the position of the press-fitting head reference position in the direction along the press-fitting direction, the relative distance, and the load applied to the part to be press-fitted. A learning step to acquire training data including information on the press-fit state of the press-fit part during the first press-fit, obtained in the first press-fit step; information on the second stroke amount; and information on the press-fit amount of the press-fit part after the second press-fit, corresponding to the information on the press-fit state of the press-fit part during the first press-fit and the information on the second stroke amount obtained in the first press-fit step; and using the training data to generate a trained model for inferring a press-fit amount inference value, which is the press-fit amount of the press-fit part after the second press-fit step, from the information on the press-fit state of the press-fit part during the first press-fit obtained in the first press-fit step; Includes, In the calculation step, the information on the press-fitting state of the press-fitted part in the first press-fitting step, obtained in the first press-fitting step, is input to the trained model to obtain the press-fitting amount inference value. The press-fitting method described in Appendix 8, characterized by the above. (Note 10) During the first press-fitting process, time-series data of the position of the end face of the outer peripheral component on the side opposite to the press-fitting direction in the direction along the press-fitting direction, time-series data of the position of the press-fitting head reference position in the direction along the press-fitting direction, time-series data of the relative distance, and time-series data of the load applied to the component being press-fitted are acquired. The press-fitting method described in Appendix 9, characterized by the above. (Note 11) A method for manufacturing an encoder, comprising press-fitting an encoder base component that supports the optical component of the encoder onto the motor's rotating shaft with a target press-fitting amount using a press-fitting device, A holding step of the press-fitting head, which holds the base component on the end face on the press-fitting direction side that faces the press-fitting direction, which is the direction in which the base component is pressed into the motor, A pre-press-fitting measurement step, which measures the relative distance between the position in the direction of press-fitting of the end face on the side opposite to the press-fitting direction of the outer peripheral component, which is integrated with the motor and positioned on the outer peripheral side of the base component and the motor during press-fitting, and the position in the direction of press-fitting of the press-fitting head reference position, which is located on the side opposite to the press-fitting direction of the end face on the outer peripheral component opposite to the press-fitting direction of the base component when press-fitting the base component into the motor, A first press-fitting step in which the base part is pressed in with a first stroke amount that is less than the target press-fitting amount, which is determined based on the relative distance obtained in the pre-press-fitting measurement step, A first post-press-in measurement step is performed after the first press-in, in which the relative distance and the load applied to the motor are measured. A calculation step to calculate the second stroke amount by adding the amount of deformation of the motor due to the load applied to the motor, which is determined based on the information obtained in the pre-press measurement step and the information obtained in the first post-press measurement step, to the press-fit amount determined based on the relative distance obtained in the first post-press measurement step, A second press-fitting step in which the base component is pressed in with the second stroke amount, A method for manufacturing an encoder, characterized by including the following: (Note 12) A second post-press-fitting measurement step is performed after the second press-fitting step, which measures the position of the end face of the outer peripheral component on the side opposite to the press-fitting direction in the direction along the press-fitting direction, the position of the press-fitting head reference position in the direction along the press-fitting direction, the relative distance, and the load applied to the motor. A learning step of acquiring training data including information on the press-fitting state of the base part during the first press-fitting step, obtained in the first press-fitting step, information on the second stroke amount, and information on the press-fitting amount of the base part after the second press-fitting step, corresponding to the information on the press-fitting state of the base part during the first press-fitting step and the information on the second stroke amount obtained in the first press-fitting step, and using the training data to generate a trained model for inferring a press-fitting amount inference value, which is the press-fitting amount of the base part after the second press-fitting step, from the information on the press-fitting state of the base part during the first press-fitting step obtained in the first press-fitting step, Includes, In the calculation step, the information on the press-fitting state of the base part during the first press-fitting step, obtained in the first press-fitting step, is input to the trained model to obtain the press-fitting amount inference value. A method for manufacturing an encoder as described in Appendix 11, characterized by the above. (Note 13) During the first press-fitting process, time-series data of the base component, the relative distance, and the load applied to the rotating shaft are acquired. A method for manufacturing an encoder as described in Appendix 12, characterized by the above. (Note 14) A learning device for press-fitting equipment that learns the amount of press-fitting required to press-fit a component into a component to be press-fitted by a target press-fitting amount, A first data acquisition unit acquires learning data including: information on the press-fit state of the press-fit part during the first press-fit, which is acquired during the first press-fit in which the press-fit part is pressed in with a first stroke amount less than the target press-fit amount; information on the second stroke amount determined based on the information acquired during the first press-fit; and information on the press-fit amount of the press-fit part after the second press-fit, which corresponds to the press-fit state information of the press-fit part during the first press-fit and the information on the second stroke amount, acquired during the first press-fit. A model generation unit generates a trained model for inferring an inferred value of the press-fit amount, which is the press-fit amount of the press-fit part after the second press-fit, from the press-fit state information of the press-fit part obtained in the first press-fit obtained in the first press-fit, using the aforementioned training data. A learning device characterized by being equipped with the following features. (Note 15) An inference device for press-fitting equipment that infers the amount of press-fitting required to press-fit a component into a component to be press-fitted by a target press-fitting amount, A second data acquisition unit acquires information on the press-fitting state of the press-fitting part during the first press-fitting, which is obtained during the first press-fitting in which the press-fitting part is pressed in with a first stroke amount smaller than the target press-fitting amount. An inference unit that uses a trained model to infer an inference value, which is the amount of the press-fitted part after the second press-fit, from the press-fitting state information of the press-fitted part in the first press-fit obtained in the first press-fit, and infers the press-fitting amount inference value from the press-fitting state information of the press-fitted part in the first press-fit obtained by the second data acquisition unit, An inference device characterized by having the following features. [Explanation of Symbols]

[0135] 10 Optical encoder, 11 Housing, 11a Anti-press-fit side, 12 Mirror receiver, 12a Anti-press-fit side end face, 13 Concave mirror, 14 Reflective film, 15 Scale disc, 16 Slit, 17 Substrate, 18 Photodetector, 20 Motor, 21 Rotating shaft, 22 Motor body, 31, 32 Light rays, 34, 35, 36 Adhesive, 41 Gap, 50 Frame, 51 Surface plate, 52 Column, 53 Top plate, 54 Motor receiver, 60 Press-fit drive unit, 61 Press-fit rod, 62 Press-fit motor, 63 Press-fit head, 63a Stepped surface, 64 Load cell, 70 Measuring unit, 71 Y-axis actuator, 72 Z-axis actuator, 73 Motor chuck, 80 Laser line sensor, 81 Light emitter, 82 Light receiver, 83 Laser beam, 90 Control unit, 91 Processing circuit, 91a Logic circuit, 91b Program, 100 Press-fitting device, 200 Machine learning device, 210 Learning device, 211 Data acquisition unit, 212 Model generation unit, 213 Learned model storage unit, 220 Inference device, 221 Data acquisition unit, 222 Inference unit, 231 Input information, 232 Press-fitting amount information, 233 Learned model, 631a Press-fitting direction side end face, 632L Head length, 911 Processor, 912 Random access memory, 913 Storage device, L Relative distance, L0 Target relative distance, L1 Lower limit, L2 Upper limit, M Load.

Claims

1. A press-fitting device that presses a part to be pressed into a part to be pressed with a target press-fitting amount, The press-fitting head has an end face on the press-fitting direction side that faces the press-fitting direction, which is the direction in which the press-fitting part is pressed into the part to be pressed, and A drive unit that drives the press-fitting head in the press-fitting direction to press the press-fitting part against the part to be press-fitted, A press-fit drive unit having, A position measuring unit measures the relative distance between the position in the direction of the press-fitting direction of the end face on the side opposite to the press-fitting direction of the outer peripheral component, which is integrated with the part to be press-fitted and positioned on the outer peripheral side of the press-fitting component and the part to be press-fitted during press-fitting, and the position in the direction of the press-fitting direction of the press-fitting head reference position, which is located on the side opposite to the press-fitting direction of the end face on the outer peripheral component on the side opposite to the press-fitting direction of the outer peripheral component when the press-fitting component is press-fitted into the part to be press-fitted. A load detection unit that detects the load applied to the press-fit head, A measuring unit having, A control unit controls the press-fit drive unit based on the information acquired by the measuring unit to control the movement of the press-fit head in the press-fit direction, Equipped with, The control unit, The first press-fit is controlled to press-fit the part with a first stroke amount that is less than the target press-fit amount determined based on the relative distance. The second press-fit, in which the press-fit part is pressed in, is controlled by a second stroke amount determined based on the information obtained from the measuring unit for the first press-fit. A press-fitting device characterized by the following.

2. The position measurement unit, A light projector that irradiates the press-fit head and the outer peripheral component with a sheet-shaped laser beam parallel to the direction along the press-fit direction, A light receiver that detects the amount of light from the laser beam to measure the position of the end face of the outer peripheral component on the side opposite to the press-fit direction in the direction along the press-fit direction, and the position of the press-fit head reference position in the direction along the press-fit direction. To be equipped, The press-fitting device according to claim 1, characterized by the following:

3. The system includes a transfer unit that moves the light emitter and the light receiver in a direction perpendicular to the press-fitting direction, The position measuring unit measures at two locations symmetrically with respect to the center position of the part to be press-fitted in the in-plane direction perpendicular to the press-fitting direction, in a direction perpendicular to the press-fitting direction. The press-fitting device according to claim 2, characterized by the following:

4. A first data acquisition unit acquires learning data including information on the press-fit state of the press-fit part during the first press-fit, acquired by the measuring unit during the first press-fit; information on the second stroke amount; and information on the press-fit amount of the press-fit part after the second press-fit, which corresponds to the information on the press-fit state of the press-fit part during the first press-fit and the information on the second stroke amount, acquired by the measuring unit during the first press-fit. A model generation unit generates a trained model for inferring an inferred value of the press-fit amount, which is the press-fit amount of the press-fit part after the second press-fit, from the press-fit state information of the press-fit part during the first press-fit acquired by the measurement unit during the first press-fit, using the aforementioned training data. The learning device has the following features: The press-fitting device according to claim 1, characterized by the following:

5. The information on the press-fitting state of the press-fitted part acquired by the measuring unit during the first press-fitting includes time-series data of the press-fitting amount and time-series data of the press-fitting load. The press-fitting device according to claim 4, characterized by the following:

6. A second data acquisition unit acquires information on the press-fitting state of the press-fitted part during the first press-fitting, which is acquired by the measuring unit during the first press-fitting. An inference unit that uses a trained model to infer an inferred inferred inferred inferred value, which is the amount of the press-fitted part after the second press-fit, from the press-fitting state information of the press-fitted part during the first press-fit acquired by the measurement unit during the first press-fit, and infers the press-fitting amount inferred value from the press-fitting state information of the press-fitted part during the first press-fit acquired by the second data acquisition unit, The inference device has the following features: The press-fitting device according to claim 1, characterized by the following:

7. The second stroke amount is a correction value for the stroke amount used to perform a second press-fitting operation, which corrects the press-fitting amount of the press-fitted part after the first press-fitting operation in order to press-fit the press-fitted part to the target press-fitting amount. The press-fitting device according to claim 1, characterized by the following:

8. A press-fitting method in which a press-fitting device presses a press-fitting part into a part to be press-fitted with a target press-fitting amount, A holding step of the press-fitting head, which holds the press-fitting part on the end face on the press-fitting direction side that faces the press-fitting direction, which is the direction in which the press-fitting part is pressed into the part to be press-fitted, A pre-press-fit measurement step, which measures the relative distance between the position in the direction of press-fitting and the position in the direction of press-fitting of the end face on the side opposite to the press-fitting direction of the outer peripheral component, which is integrated with the part to be press-fitted and positioned on the outer peripheral side of the part to be press-fitted during press-fitting, and the position in the direction of press-fitting of the press-fitting head reference position, which is located on the side opposite to the press-fitting direction of the end face on the outer peripheral component on the side opposite to the press-fitting direction of the outer peripheral component when the part to be press-fitted is pressed into the part to be press-fitted, A first press-fitting step in which the press-fitting part is pressed in with a first stroke amount that is less than the target press-fitting amount, which is determined based on the relative distance obtained in the pre-press-fitting measurement step, A post-press-fitting measurement step is performed after the first press-fitting, in which the relative distance and the load applied to the press-fitted part are measured. A calculation step to calculate a second stroke amount by adding the amount of deformation of the part to be pressed due to the load applied to the part to be pressed, which is determined based on the information obtained in the pre-press measurement step and the information obtained in the first post-press measurement step, to the press-fit amount determined based on the relative distance obtained in the first post-press measurement step, A second press-fitting step in which the press-fit part is pressed in with the second stroke amount, A press-fitting method characterized by including the following.

9. A second post-press-fitting measurement step is performed after the second press-fitting step, which measures the position of the end face of the outer peripheral part on the side opposite to the press-fitting direction in the direction along the press-fitting direction, the position of the press-fitting head reference position in the direction along the press-fitting direction, the relative distance, and the load applied to the part to be press-fitted. A learning step to acquire training data including information on the press-fit state of the press-fit part during the first press-fit, obtained in the first press-fit step; information on the second stroke amount; and information on the press-fit amount of the press-fit part after the second press-fit, corresponding to the information on the press-fit state of the press-fit part during the first press-fit and the information on the second stroke amount obtained in the first press-fit step; and a learning step to generate a trained model for inferring a press-fit amount inference value, which is the press-fit amount of the press-fit part after the second press-fit step, from the information on the press-fit state of the press-fit part during the first press-fit obtained in the first press-fit step; Includes, In the calculation step, the information on the press-fitting state of the press-fitted part in the first press-fitting step, obtained in the first press-fitting step, is input to the trained model to obtain the press-fitting amount inference value. The press-fitting method according to claim 8, characterized by the above.

10. During the first press-fitting process, time-series data of the position of the end face of the outer peripheral component on the side opposite to the press-fitting direction in the direction along the press-fitting direction, time-series data of the position of the press-fitting head reference position in the direction along the press-fitting direction, time-series data of the relative distance, and time-series data of the load applied to the component being press-fitted are acquired. The press-fitting method according to claim 9, characterized by the above.

11. A method for manufacturing an encoder, comprising press-fitting an encoder base component that supports the optical component of the encoder onto the motor's rotating shaft with a target press-fitting amount using a press-fitting device, A holding step of the press-fitting head, which holds the base component on the end face on the press-fitting direction side that faces the press-fitting direction, which is the direction in which the base component is pressed into the motor, A pre-press-fitting measurement step, which measures the relative distance between the position in the direction of press-fitting of the end face on the side opposite to the press-fitting direction of the outer peripheral component, which is integrated with the motor and positioned on the outer peripheral side of the base component and the motor during press-fitting, and the position in the direction of press-fitting of the press-fitting head reference position, which is located on the side opposite to the press-fitting direction of the end face on the outer peripheral component opposite to the press-fitting direction of the base component when press-fitting the base component into the motor, A first press-fitting step in which the base part is pressed in with a first stroke amount that is less than the target press-fitting amount, which is determined based on the relative distance obtained in the pre-press-fitting measurement step, A post-press-in measurement step is performed after the first press-in, in which the relative distance and the load applied to the motor are measured. A calculation step to calculate the second stroke amount by adding the amount of deformation of the motor due to the load applied to the motor, which is determined based on the information obtained in the pre-press measurement step and the information obtained in the first post-press measurement step, to the press-fit amount determined based on the relative distance obtained in the first post-press measurement step, A second press-fitting step in which the base component is pressed in with the second stroke amount, A method for manufacturing an encoder, characterized by including the following:

12. A second post-press-fitting measurement step is performed after the second press-fitting step, in which the position of the end face of the outer peripheral component on the side opposite to the press-fitting direction in the direction along the press-fitting direction, the position of the press-fitting head reference position in the direction along the press-fitting direction, the relative distance, and the load applied to the motor are measured. A learning step to acquire training data including information on the press-fitting state of the base part during the first press-fitting step, obtained in the first press-fitting step, information on the second stroke amount, and information on the press-fitting amount of the base part after the second press-fitting step, corresponding to the information on the press-fitting state of the base part during the first press-fitting step and the information on the second stroke amount obtained in the first press-fitting step, and to generate a trained model for inferring a press-fitting amount inference value, which is the press-fitting amount of the base part after the second press-fitting step, from the information on the press-fitting state of the base part during the first press-fitting step obtained in the first press-fitting step, Includes, In the calculation step, the information on the press-fitting state of the base part during the first press-fitting step, obtained in the first press-fitting step, is input to the trained model to obtain the press-fitting amount inference value. A method for manufacturing an encoder according to claim 11, characterized by the above.

13. During the first press-fitting process, time-series data of the base component, the relative distance, and the load applied to the rotating shaft are acquired. A method for manufacturing an encoder according to claim 12, characterized by the above.

14. A learning device for press-fitting equipment that learns the amount of press-fitting required to press-fit a component into a component to be press-fitted by a target press-fitting amount, A first data acquisition unit acquires learning data including: information on the press-fit state of the press-fit part during the first press-fit, which is acquired during the first press-fit in which the press-fit part is pressed in with a first stroke amount less than the target press-fit amount; information on the second stroke amount determined based on the information acquired during the first press-fit; and information on the press-fit amount of the press-fit part after the second press-fit, which corresponds to the information on the press-fit state of the press-fit part during the first press-fit and the information on the second stroke amount, acquired during the first press-fit. A model generation unit generates a trained model for inferring an inferred value of the press-fit amount, which is the press-fit amount of the press-fit part after the second press-fit, from the press-fit state information of the press-fit part obtained in the first press-fit obtained in the first press-fit, using the aforementioned training data. A learning device characterized by being equipped with the following features.

15. An inference device for press-fitting equipment that infers the amount of press-fitting required to press-fit a component into a component to be press-fitted by a target press-fitting amount, A second data acquisition unit acquires information on the press-fitting state of the press-fitting part during the first press-fitting, which is obtained during the first press-fitting in which the press-fitting part is pressed in with a first stroke amount smaller than the target press-fitting amount. An inference unit that uses a trained model to infer an inferred inference value, which is the amount of the press-fitted part after the second press-fit, from the press-fitting state information of the press-fitted part in the first press-fit obtained in the first press-fit, and infers the press-fitting amount inference value from the press-fitting state information of the press-fitted part in the first press-fit obtained by the second data acquisition unit, An inference device characterized by having the following features.

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