Method and apparatus for manufacturing personal care products

Abstract

To improve positioning accuracy of a magnetic floating type linear carrier device, and to manufacture a target product with high accuracy.SOLUTION: A personal care product manufacturing method includes: calculating a shuttle specific correction value for setting a shuttle origin position which is an origin position of a shuttle, to a processing station origin position which is an origin position of a coordinate system of a processing station; moving the shuttle on which a work-piece is loaded at a supply station, to a processing station; setting the shuttle origin position to the processing station origin position on the basis of the correction value; moving at least one of the shuttle and a processing tool relatively to the other at the processing station so as to cause the processing tool to execute a processing process on the work-piece; and moving the shuttle to a discharge station after the processing process is executed on the work-piece.SELECTED DRAWING: Figure 4

Description

Technical Field

[0005] ,

[0001] The present invention relates to a manufacturing method and a manufacturing apparatus for personal care products applicable to the human body.

Background Art

[0002] Magnetic levitation linear transportation is known (Patent Document 1), in which a conveyance plate (shuttle) composed of permanent magnets floats on a table (segment) incorporating an electromagnetic coil and can freely move around. Compared with conventional transportation systems that can only transport in one direction, such as conveyor transportation, in a linear transportation system, each shuttle can independently and freely transport a workpiece. Therefore, the workpieces transported by each shuttle can pass through different processing steps along different transportation routes, and it is attracting attention as a next-generation transportation system enabling simultaneous production of multiple product types.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0004] In a shuttle in a magnetic levitation linear transportation system, there are individual differences in shape (dimensions and thickness) and the magnetism emitted from permanent magnets. Therefore, even if each shuttle is uniformly controlled, variations will occur with respect to the target position coordinates (X, Y, Z). In addition, since it is a mechanical-less mechanism, it may not be possible to obtain transportation accuracy comparable to mechanical accuracy. However, among the processing steps applied to the workpiece at the destination, there are quite a few that require the position accuracy of the workpiece. Then, it is difficult to perform the processing as designed on the workpiece. In addition, there is also a possibility that the processing tool and the workpiece may come into contact unintentionally and be damaged.

[0005] In light of the above circumstances, it is desirable to improve the positioning accuracy of magnetic levitation linear transport devices and manufacture the target products with high precision. [Means for solving the problem]

[0006] A method for manufacturing a personal care product according to one embodiment of the present invention is: A method for manufacturing personal care products applicable to the human body, The stage consists of multiple segments, each containing an electromagnetic coil, and has multiple stations. Multiple shuttles, each having a permanent magnet, transport the workpiece, which is a precursor to the personal care product, by floating and moving on the stage. It has, The aforementioned multiple stations are A supply station from which the aforementioned workpieces are supplied, A machining station in which a machining process is performed on the workpiece mounted on the shuttle using a machining tool, Includes a discharge station from which the workpiece is discharged. In manufacturing equipment, A correction value specific to the shuttle is calculated to set the shuttle origin position, which is the origin position of the shuttle, to the processing station origin position, which is the origin position of the coordinate system of the processing station. The shuttle on which the workpiece is loaded at the supply station is moved to the processing station. The shuttle origin position is set to the processing station origin position based on the correction value, At the processing station, at least one of the shuttle and the processing tool is moved relative to the other, causing the processing tool to perform the processing step on the workpiece. After the processing step has been performed on the workpiece, the shuttle is moved to the discharge station.

[0007] A manufacturing apparatus for personal care products according to one embodiment of the present invention, A manufacturing apparatus for personal care products applicable to the human body, The stage consists of multiple segments, each containing an electromagnetic coil, and has multiple stations. Multiple shuttles, each having a permanent magnet, transport the workpiece, which is a precursor to the personal care product, by floating and moving on the stage. Control device and It is equipped with, The aforementioned multiple stations are A supply station from which the aforementioned workpieces are supplied, A machining station in which a machining process is performed on the workpiece mounted on the shuttle using a machining tool, The discharge station from which the workpiece is discharged includes, The control device is A correction value specific to the shuttle is calculated to set the shuttle origin position, which is the origin position of the shuttle, to the processing station origin position, which is the origin position of the coordinate system of the processing station. The shuttle on which the workpiece is loaded at the supply station is moved to the processing station. The shuttle origin position is set to the processing station origin position based on the correction value, At the processing station, at least one of the shuttle and the processing tool is moved relative to the other, causing the processing tool to perform the processing step on the workpiece. After the processing step has been performed on the workpiece, the shuttle is moved to the discharge station. [Effects of the Invention]

[0008] According to the present invention, the positioning accuracy of a magnetic levitation linear transport device can be improved, making it possible to manufacture the target product with high precision. [Brief explanation of the drawing]

[0009] [Figure 1] This shows a manufacturing apparatus related to one embodiment of the present invention. [Figure 2] Shows a plurality of stations. [Figure 3] It is a schematic diagram for explaining correction values. [Figure 4] It is a flowchart showing a manufacturing method. [Figure 5] Shows an example of a second machine. [Figure 6] Shows another example of a plurality of stations.

Mode for Carrying Out the Invention

[0010] Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1. Manufacturing apparatus A manufacturing apparatus 1 according to an embodiment of the present invention is a manufacturing apparatus for a personal care product 710 applicable to the human body. The personal care product 710 is applicable to the human body by directly applying it onto the skin or by applying, spraying, dropping, etc. a liquid obtained by dissolving or dispersing it in a liquid medium such as water onto the skin. Such personal care products 710 include, for example, one or more selected from cosmetics, detergents, and bath agents. Cosmetics include makeup cosmetics, base cosmetics, perfumes, hair care products, etc. Detergents include shampoos, soap pastes, and solid soaps, etc. Makeup cosmetics include solid cosmetics such as eyeshadows and foundations containing cosmetic powders, etc., and lipsticks containing oils, etc. From the viewpoint of enabling three-dimensional molding, the personal care product 710 is preferably solid at 1 atm and 20°C. In the present embodiment, the personal care product 710 manufactured using the manufacturing apparatus 1 is a solid personal care product 710 mainly composed of powders such as powder cosmetics such as eyeshadows or foundations containing cosmetic powders, etc.

[0011] The manufacturing apparatus 1 manufactures a personal care product 710 by introducing one or more compositions constituting the personal care product 710 into a workpiece 700. The compositions are typically fluid. The fluid composition is preferably a liquid itself or contains a liquid. In other words, compositions used in the present invention are excluded if they are in solid form only or gas form only. Examples of such compositions include dispersions (so-called slurries) which are mixtures containing a powder such as a cosmetic and a liquid dispersion medium, solutions obtained by dissolving various compounds such as cosmetics in a liquid solvent, or molten liquids obtained by heating and melting a cosmetic or oily substance or a composition containing a cosmetic.

[0012] The manufacturing apparatus 1 typically includes a stage 100, a plurality of shuttles 200, and a control device 300. The stage 100 and the plurality of shuttles 200 preferably constitute a linear transport system. The manufacturing apparatus 1 may further include a manipulator robot 400, a first machine 500, and a second machine 600. An example with these components is shown in Figure 1.

[0013] Stage 100 is typically composed of a combination of multiple (e.g., eight) segments 101. Each segment 101 is typically a physically independent, desk-like unit, each containing an electromagnetic coil. Preferably, the multiple segments 101 are arranged two-dimensionally so as to be connected to one another, rather than in a serial line, to constitute Stage 100.

[0014] Stage 100 preferably has multiple stations 110 to 119. The multiple stations 110 to 119 are multiple areas that virtually divide Stage 100 according to their roles. Each station 110 to 119 may be located within its own segment 101, or it may be located across adjacent segments 101. Each segment 101 may have multiple stations (e.g., 2 to 4) or just one station. The size of each station 110 to 119 may be greater than or equal to the size of the shuttle 200. An example of this arrangement is shown in Figure 2.

[0015] Each shuttle 200 typically includes a permanent magnet. With the on / off state and current value of the electromagnetic coil of the stage 100 controlled by the control device 300, the shuttle 200 levitates above the stage 100, floats above the stage 100, and moves two-dimensionally across the stage 100. The shuttle 200 transports the workpiece 700 on the stage 100 by moving between multiple stations 110 to 119 with the workpiece 700 loaded on it. The shuttle 200 may have a jig 210 (Figure 3) for positioning the loaded workpiece 700. When the shuttle 200 is described as "on the stage 100," it means that the shuttle 200 does not contact the stage 100, but is floating above it with a small space between it and the stage 100.

[0016] Workpiece 700 typically consists of a metal or resin dish filled with a base material comprising a first composition constituting the personal care product 710. The base material is, for example, a pressed powder, i.e., a molded product of compressed powder, such as foundation. The dish may be made of paper, film, or nonwoven fabric instead of a metal or resin dish, as long as it can accommodate one or more compositions constituting the personal care product 710.

[0017] A manipulator robot 400 is typically used to supply the workpiece 700 to the shuttle 200 on the stage 100 and to discharge it from the shuttle 200 on the stage 100. One manipulator robot 400 may supply and discharge the workpiece 700. Alternatively, one manipulator robot 400 may supply the workpiece 700 and another manipulator robot 400 may discharge the workpiece 700.

[0018] The first machine 500 performs a first processing step on the workpiece 700 while it is loaded on the shuttle 200. The second machine 600 performs a second processing step on the workpiece 700 while it is loaded on the shuttle 200. Typically, the first and second processing steps involve decorating the base material of the workpiece 700. Working with the workpiece 700 loaded on the shuttle 200 means that there is no need to transfer the workpiece 700 from the shuttle 200 to an XY stage or the like. This eliminates the need for equipment and time required for transfer and alignment, thus preventing equipment expansion and shortening the cycle time.

[0019] The first machine 500 preferably has a cutting tool (e.g., a machining tool such as an end mill, drill, or milling cutter) for cutting a substrate made of the first composition filled into the workpiece 700. The first machining step performed by the first machine 500 is preferably, for example, a groove forming step. The groove forming step preferably involves cutting the surface of the substrate with the cutting tool while moving at least one of the cutting tool and the shuttle 200 relative to the other, thereby forming linear grooves on the surface of the substrate.

[0020] The second machine 600 is preferably a dispenser having a nozzle (processing tool) for dispensing a fluid second composition. This process is similar to that of a so-called 3D printer. The second processing step performed by the second machine 600 is preferably, for example, a linear body deposition step. The linear body deposition step preferably involves decorating the substrate by dispensing a fluid second composition from the nozzle while moving at least one of the nozzle and the shuttle 200 relative to the other, thereby depositing linear bodies made of the second composition onto at least a portion of the linear grooves formed in the substrate. The linear bodies form a three-dimensional pattern.

[0021] Thus, in this embodiment, the linear body composed of the second composition is deposited not on the uncut surface of the substrate composed of the first composition, but in at least a portion of the groove formed by cutting the substrate, thereby preventing the linear body from falling off the substrate and improving the aesthetic quality. That is, in this embodiment, it is preferable that the groove and the linear body have substantially the same shape.

[0022] The first composition and the second composition may be the same, but are typically different. The difference between the first and second compositions typically means a difference in color. Specifically, a difference in color means one or more differences in the lightness, saturation, hue, color (due to the composition of pearls, etc.), and texture between the first and second compositions. The first and second compositions may also differ in the particle size and compositional components they contain. The difference in color improves the visibility and design of the linear body 730. Three-dimensional patterns may include, for example, Japanese characters such as hiragana and katakana, various characters such as the alphabet, Arabic numerals, Roman numerals, and characters of other countries, straight lines and curves, and figures, geometric shapes, symbols, colors, patterns, or patterns of combinations thereof.

[0023] The control device 300 controls the manufacturing apparatus 1, typically by having the CPU load a computer program stored in ROM into RAM and execute it. The manufacturing apparatus here typically includes a stage 100, a manipulator robot 400, a first machine 500, and a second machine 600. The control device 300 executes the computer program to control the on / off state and current value of the electromagnetic coils of the stage 100 to move the shuttle 200.

[0024] Preferably, the control device 300 controls the first machine 500 and the second machine 600 based on an NC program that uses G-code as a subroutine of the basic computer program described above. The on / off switching of the first machine 500 and the second machine 600 is controlled by G-code. The control device 300 can control the first machine 500 to execute one of several different first programs, and control the second machine 600 to execute one of several different second programs. For example, the control device 300 can cause the first machine 500 to cut grooves of different shapes (different patterns) based on different first programs (NC programs). The control device 300 can cause the second machine 600 to deposit linear bodies of different shapes (different patterns) based on different second programs (NC programs). Furthermore, if the first machine 500 and the second machine 600 are fixed and the shuttle 200 moves relative to the first machine 500 and the second machine 600, the control device 300 controls the stage 100 so that the shuttle 200 moves.

[0025] 2. Multiple stations The stage 100 preferably has a plurality of stations 110 to 119. The plurality of stations 110 to 119 preferably include a supply station 110, a standby station 111, a first measurement station 112, a first processing station 113, a second processing station 114, a second measurement station 115, a second work standby station 116, a plurality of discharge standby stations 117, a discharge station 118, and a supply standby station 119. An example having these is shown in Figure 2. Of Stage 100, areas other than multiple stations 110-119 are used as routes between multiple stations.

[0026] It is preferable that the multiple stations 110 to 119 be arranged in a two-dimensional manner, rather than in a serial line, so that they can move freely between them. Specifically, it is preferable that the first processing station 113, the second processing station 114, the supply station 110, and the discharge station 118 are arranged in a two-dimensional manner such that multiple straight lines connecting the first processing station 113 and the second processing station 114 to the supply station 110 and the discharge station 118 intersect with a straight line connecting the first processing station 113 and the second processing station 114.

[0027] At the supply station 110, a workpiece 700 is typically loaded onto an empty shuttle 200 by a manipulator robot 400. The workpiece 700 is filled with a first composition that constitutes a personal care product, forming a substrate composed of the first composition. At the standby station 111, the shuttle 200, which is loaded with the workpiece 700 at the supply station 110, waits to move from the supply station 110 to the first measurement station 112. At the first measurement station 112, the shuttle 200, carrying the workpiece 700 that departed from the supply station 110, waits to move to the first processing station 113. At the first measurement station 112, the position (actual position) (X, Y, Z) of the shuttle 200 located at the first measurement station 112 is measured using a distance sensor 112S (Figure 3) such as an optical sensor (laser light sensor), an ultrasonic sensor, or an infrared sensor, or an image sensor, or both an optical sensor and an image sensor.

[0028] A first machine 500 is typically installed at the first processing station 113. At the first processing station 113, with the workpiece 700 loaded on the shuttle 200, the first machine 500 performs a first processing step (groove formation step) on the workpiece 700. A second machine 600 is typically installed at the second processing station 114. At the second processing station 114, with the workpiece 700 loaded on the shuttle 200, the second machine 600 performs a second processing step (linear deposition step) on the workpiece 700. At the second measurement station 115, the shuttle 200, which will move from the first processing station 113 to the second processing station 114, is waiting. At the second measurement station 115, the position (actual position) (X, Y, Z) of the shuttle 200 located at the second measurement station 115 is measured using an optical sensor (laser light sensor), a distance sensor 112S (Figure 3) such as an ultrasonic sensor or an infrared sensor, or an image sensor, or both an optical sensor and an image sensor.

[0029] Preferably, the multiple discharge waiting stations 117 include a first discharge waiting station 117A, a second discharge waiting station 117B, and a third discharge waiting station 117C, all arranged in a continuous sequence. The first discharge waiting station 117A is positioned directly in front of the discharge station 118. The second discharge waiting station 117B is positioned directly in front of the first discharge waiting station 117A. The third discharge waiting station 117C is positioned directly in front of the second discharge waiting station 117B. The multiple discharge waiting stations 117 wait for the shuttle 200, which is loaded with workpieces 700 that have become personal care products 710 after the first processing step (groove formation step) and the second processing step (linear body deposition step) have been completed, to move to the discharge station 118.

[0030] At the discharge station 118, a manipulator robot 400 typically discharges the workpiece 700, which has become a personal care product 710, from the shuttle 200, thereby emptying the shuttle 200. At the supply standby station 119, the empty shuttle 200, from which the workpiece 700 has been discharged at the discharge station 118, waits to move to the supply station 110.

[0031] 3. Concept of this embodiment Figure 3 is a schematic diagram illustrating the correction values. Stage 100 is a magnetic levitation linear transport system and, being a mechanical-less mechanism, there is a risk that transport accuracy comparable to that of a machine may not be achieved when moving the shuttle 200 on Stage 100. In other words, it is difficult to precisely stop the shuttle 200 at a target position (X, Y, Z) on Stage 100.

[0032] In addition, there are individual differences in the shape of the shuttle 200 (dimensions in the X and Y directions, thickness D1 in the Z direction), the magnetic properties of the permanent magnets, the dimensions of the segment 101 such as its height, the magnetic properties of the electromagnetic coil, and the shape of the metal plate and base material of the workpiece 700 mounted on the shuttle 200 (dimensions in the X and Y directions, thickness D2 in the Z direction). Furthermore, the levitation control amount (levitation height) D3 of the shuttle 200 varies depending on the combination of the shuttle 200, workpiece 700, and segment 101.

[0033] Therefore, even if each shuttle 200 is uniformly controlled so that its origin position (X,Y,Z) coincides with the origin positions (X,Y,Z) of the first processing station 113 and the second processing station 114, the origin position of the shuttle 200 will not coincide with the origin positions of the first processing station 113 and the second processing station 114, resulting in variations.

[0034] However, the machining processes (groove formation process, linear body deposition process) performed on the workpiece 700 at the first machining station 113 and the second machining station 114 require precision in the position (X, Y, Z) of the workpiece 700. Therefore, if the origin position of the shuttle 200 differs from the origin positions of the first machining station 113 and the second machining station 114, it may become impossible to machine the workpiece 700 as designed. In addition, the cutting tool of the first machine 500 or the nozzle of the second machine 600 may come into contact with the composition 701 filled in the workpiece 700, potentially damaging the composition 701 filled in the workpiece 700.

[0035] Therefore, in this embodiment, before performing the groove formation process and the linear body deposition process on the workpiece 700 mounted on the shuttle 200 at the first processing station 113 and the second processing station 114, a unique correction value is calculated according to the combination of the shuttle 200 and the workpiece 700 mounted on the shuttle 200. The correction value is a correction value unique to the shuttle 200 for setting the origin position of the shuttle 200 (shuttle origin position) to the origin position of the coordinate system of the first processing station 113 and the second processing station 114 (processing station origin position), respectively. That is, a correction value is calculated individually for each of the first processing station 113 and the second processing station 114. The method for calculating the correction value at the first processing station 113 from the first measurement station 112 will be explained below. The method for calculating the correction value at the second processing station 114 from the second measurement station 115 is similar, although the explanation will be omitted.

[0036] The control device 300 stops the shuttle 200 at the reference position of the first measurement station 112. At this time, it is assumed that the actual position of the shuttle 200 is shifted by a predetermined amount from the reference position of the first measurement station 112 (i.e., the target stopping position of the shuttle 200). This amount of shift becomes the correction value. If the shuttle 200 is stopped so that its origin position coincides with the origin position of the first processing station 113, it is predicted that the origin position of the shuttle 200 will stop shifted by the same amount from the origin position of the first processing station 113. As a result of the origin position of the shuttle 200 being shifted from the origin position of the first processing station 113 in this way, the cutting position relative to the workpiece 700 mounted on the shuttle 200 will also be shifted by the same amount.

[0037] Therefore, in this embodiment, the origin position (X,Y,Z) of the shuttle 200 is set to the origin position (X,Y,Z) of the first processing station 113 based on a correction value (i.e., the predicted amount of deviation). As a result, when the first machine 500 is controlled at the first processing station 113 based on an NC program using G-code, the origin position of the coordinate system of the first processing station 113 on which the first machine 500 operates coincides with the origin position of the shuttle 200. As a result, the target design can be processed with high precision on the base material of the workpiece 700 mounted on the shuttle 200.

[0038] The correction values ​​include X-coordinate correction values, Y-coordinate correction values, and Z-coordinate correction values ​​for setting the X-coordinate, Y-coordinate, and Z-coordinate values ​​of the origin position of the shuttle 200 to the X-coordinate, Y-coordinate, and Z-coordinate values ​​of the origin position of the first processing station 113. Using the X-coordinate correction value, the error between the X-coordinate value of the origin position of the shuttle 200 and the X-coordinate value of the origin position of the first processing station 113 is set to within ±0.5 mm. Using the Y-coordinate correction value, the error between the Y-coordinate value of the origin position of the shuttle 200 and the Y-coordinate value of the origin position of the first processing station 113 is set to within ±0.5 mm. Using the Z-coordinate correction value, the error between the Z-coordinate value of the origin position of the shuttle 200 and the Z-coordinate value of the origin position of the first processing station 113 is set to within ±0.5 mm.

[0039] Here, the error in the Z coordinate value is set to be smaller than the errors in the X coordinate value and the Y coordinate value. In other words, the misalignment in the Z direction is adjusted more precisely than the misalignment in the X and Y directions. This is because, when a user sees the finished product of personal care product 710, even if the grooves and linear bodies are misaligned in the X and Y directions from the target design, the user may not notice the misalignment and may not feel any discomfort. On the other hand, if the cutting tool of the first machine 500 is misaligned in the Z direction relative to the shuttle 200, the grooves formed in the substrate may become shallower, making it easier for the linear bodies accumulated in the grooves to fall off the substrate. Conversely, if the grooves formed in the substrate become deeper, the substrate may become more prone to cracking, and as a result, the linear bodies accumulated in the grooves may also become more prone to cracking and falling off. Also, if the nozzle of the second machine 600 is misaligned in the Z direction relative to the shuttle 200, there is a risk that linear bodies with a different design from the target design will be accumulated. For this reason, it is preferable to adjust the misalignment in the Z direction more precisely than the misalignment in the X and Y directions.

[0040] Let's explain with a specific example. Assume that the command values ​​(X, Y, Z) of the NC program using G-code executed at the first machining station 113 are (A1, B1, C1) relative to the origin position of the first machining station 113. Also assume that the correction values ​​calculated at the first measurement station are (a1, b1, c1). In this case, at the first machining station 113, the command value of the first shuttle S1 is corrected to (A1+a1, B1+b1, C1+c1) based on the correction values ​​specific to the first shuttle S1, thereby setting the origin position of the first shuttle S1 to the origin position of the first machining station 113.

[0041] As described above, a unique correction value is calculated depending on the combination of the shuttle 200 and the workpiece 700 mounted on the shuttle 200. For example, by correcting the command value (A2, B2, C2) of the second shuttle S2 to (A2+a2, B2+b2, C2+c2) based on the correction value (a2, b2, c2) unique to the second shuttle S2, the origin position of the second shuttle S2 is set to the origin position of the first processing station 113. By correcting the command value (A3, B3, C3) of the third shuttle S3 to (A3+a3, B3+b3, C3+c3) based on the correction value unique to the third shuttle S3, the origin position of the third shuttle S3 is set to the origin position of the first processing station 113.

[0042] 4. Manufacturing method A method for manufacturing personal care products using manufacturing apparatus 1 will be described. In this embodiment, manufacturing apparatus 1, which is a magnetic levitation type conveying device, is used. Multiple shuttles 200 loaded with workpieces 700, which are precursors to personal care products 710, are transported from a first processing station 113 to a second processing station 114 on a stage 100, while predetermined processing is applied to the workpieces 700, and the finished personal care products 710 are then transported to a discharge station 118.

[0043] When the control device 300 is started, it moves one or more shuttles 200 on the stage 100 to their initial positions. The user (operator, etc.) uses an HMI (Human Machine Interface) to input information about the types and quantities of personal care products to be manufactured by the manufacturing apparatus 1 into the control device 300. The control device 300 inputs variables to a computer program to realize the input information and executes the computer program to start the operation for manufacturing personal care products. The following is a specific example of the operation. For the sake of simplicity, the following explanation will describe a single shuttle 200. The stage 100, which has an electromagnetic coil built in, electromagnetically detects the shuttle 200. Based on the result of the stage 100's electromagnetic detection of the shuttle 200, the control device 300 can determine which stations 110 to 119 the shuttle 200 is located at.

[0044] Figure 4 is a flowchart showing the manufacturing process. The control device 300 initially positions the shuttle 200 at the supply standby station 119 (step S1). The control device 300 moves the shuttle 200 to the supply station 110 (step S2) and controls the manipulator robot 400 to load the workpiece 700 onto the shuttle 200 (step S3). The workpiece 700 is filled with a substrate composed of the first composition. The control device 300 moves the shuttle 200 from the standby station 111 (step S4) to the first measurement station 112 and stops the shuttle 200 at the reference position of the first measurement station 112 (step S5).

[0045] The control device 300 measures the position (actual position) (X, Y, Z) of the shuttle 200 located at the first measurement station 112 using a distance sensor 112S (Figure 3) such as an optical sensor (laser light sensor), an ultrasonic sensor, or an infrared sensor, or an image sensor, or both an optical sensor and an image sensor. Based on the error between the reference position of the first measurement station 112 (i.e., the target stopping position of the shuttle 200) and the actual position of the shuttle 200, the control device 300 calculates a correction value to be used at the first processing station 113 (step S11). The control device 300 moves the shuttle 200 to the first processing station 113 and sets the origin position of the shuttle 200 to the origin position of the first processing station 113 based on the calculated correction value (step S6).

[0046] The control device 300 controls the first machine 500 to cut the base material made of the first composition introduced into the workpiece 700 and form grooves (step S7) while moving at least one of the shuttle 200 and the cutting tool (machining tool) of the first machine 500 relative to the other at the first machining station 113. Here, since the origin position of the shuttle 200 is set to the origin position of the first machining station 113, grooves can be formed from a target Z position to a target XY position on the surface of the base material. The control device 300 moves the shuttle 200 from the first processing station 113 to the second measurement station 115 and stops the shuttle 200 at the reference position of the second measurement station 115 (step S8).

[0047] The control device 300 measures the position (actual position) (X, Y, Z) of the shuttle 200 located at the second measurement station 115 using a distance sensor 112S (Figure 3) such as an optical sensor (laser light sensor), an ultrasonic sensor, or an infrared sensor, or an image sensor, or both an optical sensor and an image sensor. Based on the error between the reference position of the second measurement station 115 (i.e., the target stopping position of the shuttle 200) and the actual position of the shuttle 200, the control device 300 calculates a correction value to be used at the second processing station 114 (step S15). The control device 300 moves the shuttle 200 to the second processing station 114 and sets the origin position of the shuttle 200 to the origin position of the second processing station 114 based on the calculated correction value (step S9).

[0048] The control device 300 controls the second machine 600 to introduce the fluid second composition from the nozzle (processing tool) of the second machine 600 onto the workpiece 700 mounted on the shuttle 200 at the second processing station 114, while moving at least one of the nozzle and the shuttle 200 relative to the other to deposit the second composition and form linear bodies (step S10). The second machine 600 deposits the linear bodies into grooves formed on the surface of the substrate composed of the first composition filled into the workpiece 700. Here, since the origin position of the shuttle 200 is set to the origin position of the second processing station 114, the linear bodies can be deposited from a target Z position to a target XY position on the surface of the substrate.

[0049] The control device 300 moves the shuttle 200 from the second processing station 114, through the third discharge waiting station 117C, the second discharge waiting station 117B, and the first discharge waiting station 117A in that order (step S12), and then to the discharge station 118 (step S13). When the shuttle 200 arrives at the discharge station 118, the control device 300 determines that all work on the workpiece 700 loaded on the shuttle 200 has been completed and that the workpiece 700 has become a finished personal care product 710. The control device 300 controls the manipulator robot 400 to discharge the workpiece 700 from the shuttle 200 located at the discharge station 118 (step S14).

[0050] When the control device 300 detects that the weight of the shuttle 200 located at the discharge station 118 has decreased, it determines that the workpiece 700 has been discharged from the shuttle 200, deletes the running program for controlling the shuttle 200, and starts a new control for the shuttle 200 to move to the supply station 110.

[0051] 5. Variations in calculating correction values The first measurement station 112 and the first processing station 113 may be located in the same segment 101. In this case, the shuttle origin position of the first processing station 113 is set based on the correction value calculated at the first measurement station 112 within the same segment 101. As described above, there are individual differences in the dimensions of the segment 101, such as its height, and in the magnetism of the electromagnetic coil. Therefore, by calculating the correction value at the first measurement station 112, which is located in the same segment 101 as the first processing station 113 that is subject to correction, the correction value is not affected by the individual differences of the segment 101. As a result, the correction value calculated at the first measurement station 112 matches the correction value to be adopted at the first processing station 113 with higher accuracy, allowing the origin position at the first processing station 113 to be set precisely. For example, the first processing station 113 may be used as the first measurement station 112. In other words, the correction value may be calculated at the first processing station 113. The same applies to the second measurement station 115 and the second processing station 114.

[0052] Multiple shuttles 200 move around the stage 100 multiple times, each carrying a different workpiece 700. A correction value may be calculated each time a shuttle 200 carrying a different workpiece 700 reaches the first measurement station 112. In other words, a correction value may be calculated for each combination of multiple shuttles 200 and multiple workpieces 700. This allows for the calculation of a correction value in accordance with the individual differences of the workpieces 700 in addition to the individual differences of the shuttles 200, thus enabling precise setting of the origin position at the first processing station 113. The same applies to the second measurement station 115 and the second processing station 114.

[0053] Conversely, a correction value may be calculated only when each shuttle 200 first reaches the first measurement station 112, and this correction value may be continuously used to set the origin position of that shuttle 200. This reduces the amount of computation compared to calculating the correction value each time, thereby shortening the overall cycle time. In this specification, "overall cycle time" does not refer to the cycle time when manufacturing a single personal care product, but rather to the cycle time when manufacturing a large number of personal care products, including many different types of personal care products. The same applies to the second measurement station 115 and the second processing station 114.

[0054] Alternatively, instead of providing a second measurement station 115, the correction value calculated at the first measurement station 112 may be used at both the first processing station 113 and the second processing station 114. This reduces the amount of computation and shortens the overall cycle time.

[0055] 6. Example of a second machine The second machine 600 typically includes a supply unit 20 for supplying a fluid second composition L onto a workpiece 700 to which the composition is supplied, and a nozzle 21 integrally disposed to communicate with the supply unit 20. Typically, a flat shuttle 200 is positioned below and opposite the nozzle 21, and the workpiece 700 can be mounted on the upper surface of the shuttle 200. An example of such a machine is shown in Figure 7.

[0056] The second machine 600 supports or holds the supply unit 20 and the shuttle 200 in predetermined positions. The second machine 600 moves the position of the nozzle 21 and the position of the shuttle 200 relative to each other in any direction. This allows at least one of the nozzle 21 and the shuttle 200 to be moved in a planar direction, a vertical direction, or a combination thereof, thereby moving at least one of the workpiece 700 on the nozzle 21 and the shuttle 200 relative to the other.

[0057] The supply unit 20 is a component that delivers a fluid second composition L to the workpiece 700. Preferably, the supply unit 20 comprises a liquid delivery unit 25 and a composition storage unit 26. Preferably, the liquid delivery unit 25 is connected to the composition storage unit 26 via a flow path 28. This allows the second composition L supplied from the composition storage unit 26 to the liquid delivery unit 25 to be continuously or discontinuously supplied to the nozzle 21 side, or the supply to be stopped. As such a liquid delivery unit 25, a jet dispenser capable of dispensing the second composition L in droplet form, or a mono dispenser or screw dispenser capable of continuously dispensing the second composition L can be used. Preferably, one end of the composition storage section 26 is connected to a pressurizing means such as air or a pump, and the second composition L stored in the composition storage section 26 is configured to be pressurized and sent to the liquid delivery section 25 side via the flow path 28.

[0058] The nozzle 21 is typically a tubular member that supplies the second composition L from the supply unit 20 to the workpiece 700. The nozzle 21 has a flow path for the second composition L, which is a space formed inside it, along the flow direction of the second composition L. One end of the nozzle 21, the nozzle tip, constitutes the supply port for the second composition L, and the other end is connected in communication with the supply unit 20 described above. The material of the nozzle is not particularly limited, and for example, metal or plastic can be used.

[0059] 7. Examples of the first and second compositions Unless otherwise specified, the states of matter (three states) described below are based on 1 atmosphere and 20°C. The viscosity of the first and second compositions is preferably 0.1 Pa·s or higher, more preferably 0.5 Pa·s or higher, and even more preferably 1 Pa·s or higher, from the viewpoint of improving the uniform dispersion of the materials contained in the compositions and stabilizing the quality, and suppressing the collapse of the linear body discharged from the nozzle and stabilizing its shape. Furthermore, from the viewpoint of improving dischargeability and moldability, the viscosity is preferably 1000 Pa·s or lower, more preferably 500 Pa·s or lower, and even more preferably 200 Pa·s or lower. The viscosity of the compositions described above is measured after the temperature of the compositions is set to the same temperature as the compositions supplied from the nozzle 21, i.e., the temperature at the time of discharge. For example, if the composition is not a heated molten liquid, such as a slurry, and is supplied from the nozzle at room temperature (25°C), the value measured at 25°C using a Type B viscometer (Toki Sangyo Co., Ltd., digital viscometer TVB-10R) shall be used. In this case, the measurement conditions are as follows: the rotor is set to one of rotors No. M1, M2, M3, M4, H1, H2, H3, H4, H5, H6, H7, TA, TB, TC, TD, or TE, according to the viscosity range of the sample; the rotation speed is set to 3 to 100 rpm; and the measurement time is set to 60 seconds. If the composition is a heated molten liquid, the temperature of the composition is brought to the same temperature as the composition when supplied from the nozzle 21, and then the viscosity is measured under the above measurement conditions.

[0060] The first and second compositions preferably contain one or more selected from solids such as powders and oils. Such solids preferably include powders commonly used in cosmetics, such as coloring pigments and extender pigments. Examples of coloring pigments and extender pigments include inorganic powders, organic powders, and composite powders of inorganic and organic powders. Examples of inorganic powders include silicic acid, anhydrous silicic acid, magnesium silicate, talc, sericite, mica, kaolin, red iron oxide, clay, bentonite, mica, titanium-coated mica, bismuth oxychloride, zirconium oxide, magnesium oxide, titanium oxide, zinc oxide, aluminum oxide, calcium sulfate, barium sulfate, magnesium sulfate, calcium carbonate, magnesium carbonate, iron oxide, ultramarine, chromium oxide, chromium hydroxide, calamine, carbon black, boron nitride, and composites thereof. Examples of organic powders include polyamide, nylon, polyester, polypropylene, polystyrene, polyurethane, vinyl resin, urea resin, phenolic resin, fluororesin, silicon resin, acrylic resin, melamine resin, epoxy resin, polycarbonate resin, divinylbenzene-styrene copolymer, silk powder, cellulose, long-chain alkyl metal phosphates, N-monolong-chain alkylacyl basic amino acids, and complexes thereof. These extender pigments and coloring pigments may be colored or uncolored (e.g., white or essentially transparent) and may provide one or more effects to a composition or skin, such as coloring, light diffraction, oil absorption, translucency, opacity, gloss, matte appearance, and smoothness.

[0061] The powder content in the composition varies depending on the purpose, but from the viewpoint of productivity such as drying, it is preferably 20% by mass or more, more preferably 30% by mass or more, and even more preferably 40% by mass or more. From the viewpoint of productivity such as fluidity during supply, the powder content in the composition is preferably 85% by mass or less, more preferably 80% by mass or less, and even more preferably 70% by mass or less. Within this range, it is possible to easily manufacture personal care products with highly detailed three-dimensional shapes and to enhance the good user experience when using the product. From the viewpoint of adjusting optical properties such as coloring power, brightness, and saturation, the average particle size of the powder in the composition is preferably 0.1 μm or more, more preferably 1 μm or more. From the viewpoint of suppressing nozzle clogging and enabling continuous and stable discharge, the average particle size of the powder in the composition is preferably 300 μm or less, more preferably 150 μm or less, and even more preferably 100 μm or less. The average particle size is the volume cumulative particle size D50 at a cumulative volume of 50% measured by a laser diffraction / scattering particle size distribution analyzer. When measuring the average particle size of the powder from the final product, the product is first dissolved in water or oil to dissolve the binder component and disperse the particles in the solvent. Then, the particle size distribution as a solid is measured using a particle size analyzer, and the resulting volume cumulative particle size D50 is taken as the average particle size. From the viewpoint of stable supply from the nozzle, the average particle size of the powder in the composition is preferably smaller than the length D1 of the cross-section of the nozzle 21. If the cross-section of the nozzle 21 is not perfectly circular, the minimum length of the nozzle cross-section is taken as D1. From the viewpoint of making the line width W1 in a plan view of the linear body manufactured by the method described above thinner and stably forming a three-dimensional and high-definition design, the ratio of the average particle size of the powder in the composition to the length D1 of the cross-section of the nozzle 21 (average particle size / nozzle cross-sectional length) is preferably 1 or less, more preferably 0.5 or less, even more preferably 0.35 or less, and even more preferably 0.3 or less. The smaller the average particle size / nozzle cross-sectional length, the better, but in reality, it is 0.001 or more.

[0062] The oils that may be contained in the fluid include one or more selected from oils that are liquid at 1 atmosphere and 20°C (hereinafter also referred to as liquid oils) and oils that are solid at 1 atmosphere and 20°C (hereinafter also referred to as solid oils). Examples of liquid oils include linear or branched hydrocarbon oils, vegetable oils, animal oils, ester oils, silicone oils, and high-molecular-weight alcohols. Examples of linear or branched hydrocarbon oils include liquid paraffin and squalane. Examples of vegetable oils include jojoba oil and olive oil. Examples of animal oils include liquid lanolin. Examples of ester oils include monoalcohol fatty acid esters and polyhydric alcohol fatty acid esters. Examples of silicone oils include dimethylpolysiloxane, dimethylcyclopolysiloxane, methylphenylpolysiloxane, methylhydrogenpolysiloxane, and higher alcohol-modified organopolysiloxane. Examples of high-molecular-weight alcohols include polyethylene glycol. Examples of solid oils include petrolatum, cetanol, stearyl alcohol, and ceramide.

[0063] The oil content in the composition varies depending on the purpose, but is preferably 0.5% by mass or more, more preferably 1% by mass or more, and even more preferably 1.5% by mass or more in total. The oil content in the composition is preferably 30% by mass or less, more preferably 20% by mass or less, and even more preferably 15% by mass or less. Within this range, good color development and texture can be enhanced as a personal care product.

[0064] Depending on the type of personal care product intended, the composition may appropriately contain one or more components selected from thickeners, film-forming agents, surfactants, sugars, polyhydric alcohols, water-soluble polymers, metal ion chelating agents, lower alcohols, amino acids, organic amines, pH adjusters, skin conditioning agents, vitamins, antioxidants, fragrances, preservatives, UV absorbers, UV scatterers, etc., within a range that does not impair the effects of the present invention. Examples of UV absorbers include one or more selected from benzophenone derivatives and methoxycinnamic acid derivatives. Examples of benzophenone derivatives include dihydroxybenzophenone, dihydroxydimethoxybenzophenone, hydroxymethoxybenzophenone sulfonate, and dihydroxydimethoxybenzophenone disulfonate. Examples of methoxycinnamic acid derivatives include 2-ethylhexyl methoxycinnamate. Examples of UV scatterers include fine particles with an average particle size of 0.1 μm or less. Examples of UV scatterers include one or more of zinc oxide, titanium dioxide, and silica.

[0065] The first and second compositions may further contain a liquid medium. The liquid medium is a liquid that can be used as a solvent or dispersion medium for dissolving or dispersing the cosmetic. When the first and second compositions are in the form of a slurry, the first and second compositions are preferably mixtures containing at least a powder and a liquid medium. When the first and second compositions are in the form of a cosmetic slurry, the first and second compositions are preferably mixtures containing at least the above-mentioned pigment powder, an oil, and a liquid medium.

[0066] Examples of the liquid (liquid medium) mentioned above include substances that are volatile in a liquid state (volatile solvents). Specifically, one or more liquids selected from water, alcohols, ketones, and hydrocarbons are preferred as the liquid (liquid medium). As alcohols, for example, monovalent chain aliphatic alcohols with 1 to 6 carbon atoms, monovalent cyclic aliphatic alcohols with 3 to 6 carbon atoms, and monovalent aromatic alcohols are preferably used. Specific examples include ethanol, isopropyl alcohol, butyl alcohol, phenylethyl alcohol, propanol, and pentanol. As ketones, for example, chain aliphatic ketones with 3 to 6 carbon atoms, cyclic aliphatic ketones with 3 to 6 carbon atoms, and aromatic ketones with 8 to 10 carbon atoms are preferably used. Specific examples include acetone, methyl ethyl ketone, methyl isobutyl ketone, cyclohexanone, and acetophenone. As hydrocarbons, for example, isoparaffinic hydrocarbons are preferably used, and a specific example is IP solvent.

[0067] When the first and second compositions contain a liquid medium, the content of the liquid medium in the compositions varies depending on the purpose, but is preferably 20% by mass or more, more preferably 30% by mass or more, and even more preferably 40% by mass or more in total. The content of the liquid medium in the compositions is preferably 70% by mass or less, more preferably 60% by mass or less, and even more preferably 50% by mass or less. Within this range, it is possible to improve the uniform dispersion of the constituent materials of the first and second compositions while also improving their handling.

[0068] From the viewpoint of manufacturing personal care products mainly composed of powder, such as powder cosmetics, the linear body derived from the first or second composition preferably contains 70% by mass or more, more preferably 80% by mass or more, and even more preferably 85% by mass or more, of powder as its solid content. From the viewpoint of moldability, the linear body derived from the composition preferably contains 99% by mass or less of powder as its solid content. This configuration of the linear body can be achieved, for example, by including powder in the first or second composition L within the above-mentioned range of solid content, or by supplying the first or second composition L containing a liquid medium and powder onto the workpiece 700, and then performing a solidification process to remove the liquid medium.

[0069] 8. Variations In the above embodiment, the first machine 500 performs the groove formation process at the first processing station 113, and the second machine 600 performs the linear body deposition process at the second processing station 114. Alternatively, the first machine 500 may perform the groove formation process at the first processing station 113, and the second machine 600 may perform the groove formation process at the second processing station 114. The first machine 500 may perform the linear body deposition process at the first processing station 113, and the second machine 600 may perform the linear body deposition process at the second processing station 114. The first machine 500 may perform the linear body deposition process at the first processing station 113, and the second machine 600 may perform the groove formation process at the second processing station 114 (in this case, linear bodies are deposited on a part of the surface of the substrate, and grooves are formed on another part).

[0070] In the case of machining where the order of processes does not matter, the shuttle 200 goes to the available machining stations 113 and 114 as needed, and the necessary machining is performed. Therefore, it does not move in a one-way direction as shown in Figure 2. An example of this is shown in Figure 6. Stage 100 in Figure 6 further includes a third measurement station 116.

[0071] When the shuttle 200 is located at the first measurement station 112, if the first processing station 113 is occupied but the second processing station 114 is available, the control device 300 calculates a correction value to be used at the second processing station 114. The control device 300 moves the shuttle 200 to the second processing station 114 and sets the origin position of the shuttle 200 to the origin position of the second processing station 114 based on the calculated correction value. The control device 300 controls the second machine 600 to execute the processing step at the second processing station 114.

[0072] The control device 300 moves the shuttle 200 from the second processing station 114 to the third measurement station 116 and stops the shuttle 200 at the reference position of the third measurement station 116. At the third measurement station 116, the control device 300 calculates a correction value for use at the first processing station 113. The control device 300 moves the shuttle 200 to the first processing station 113 and sets the origin position of the shuttle 200 to the origin position of the first processing station 113 based on the calculated correction value. The control device 300 controls the first machine 500 to execute the processing process at the first processing station 113.

[0073] The control device 300 moves the shuttle 200 from the first processing station 113, through the third discharge waiting station 117C, the second discharge waiting station 117B, and the first discharge waiting station 117A in that order, and then to the discharge station 118.

[0074] In this embodiment, correction values ​​are calculated at each measurement station 112, 115, and 116 on the stage 100. Alternatively, correction values ​​for each shuttle 200 due to individual differences in the shuttles 200 may be calculated in advance, and the correction values ​​to be used at the first processing station 113 and the second processing station 114 may be entered on the HMI, and the origin position (X,Y,Z) of the shuttle 200 may be set to the origin position (X,Y,Z) of the first processing station 113 and the second processing station 114. Note that all of the X-coordinate correction values, Y-coordinate correction values, and Z-coordinate correction values ​​may be calculated in advance and entered on the HMI. Or, some of the X-coordinate correction values, Y-coordinate correction values, and Z-coordinate correction values ​​may be calculated in advance and entered on the HMI, and the remaining correction values ​​may be calculated based on inline measurements at each measurement station 112, 115, and 116 on the stage 100. For example, the Z-coordinate correction value may be calculated in advance and entered on the HMI, while the X-coordinate correction value and Y-coordinate correction value may be calculated based on inline measurements at each measurement station 112, 115, and 116 on the stage 100.

[0075] 9. Conclusion In this embodiment, at the first processing station 113 and the second processing station 114, the origin position (X,Y,Z) of the shuttle 200 is set to the origin position (X,Y,Z) of the first processing station 113 and the second processing station 114 based on a correction value (i.e., the predicted amount of deviation). As a result, when the first machine 500 and the second machine 600 are controlled at the first processing station 113 and the second processing station 114 based on an NC program using G-code, the origin position of the coordinate system of the first processing station 113 and the second processing station 114 on which the first machine 500 and the second machine 600 operate coincides with the origin position of the shuttle 200. As a result, the base material of the workpiece 700 mounted on the shuttle 200 can be processed according to the target design with high precision. According to this embodiment, in the manufacturing apparatus 1 which is a magnetic levitation type linear transport device, positioning accuracy is improved and the target personal care product 710 can be manufactured with high precision.

[0076] Although various embodiments and modifications of this technology have been described above, this technology is not limited to the embodiments described above, and various modifications can be made without departing from the gist of this technology. [Explanation of Symbols]

[0077] 1 Manufacturing equipment 100 stages 101 segments 110 supply stations 113 First processing station 114 Second processing station 118 Discharge Station 200 shuttles 700 Work 710 Personal Care Products

Claims

1. A method for manufacturing personal care products applicable to the human body, The stage consists of multiple segments, each containing an electromagnetic coil, and has multiple stations. Multiple shuttles, each having a permanent magnet, transport the workpiece, which is a precursor to the personal care product, by floating and moving on the stage. It has, The aforementioned multiple stations are A supply station from which the aforementioned workpieces are supplied, A machining station in which a machining process is performed on the workpiece mounted on the shuttle using a machining tool, Includes a discharge station from which the workpiece is discharged. In manufacturing equipment, A correction value specific to the shuttle is calculated to set the shuttle origin position, which is the origin position of the shuttle, to the processing station origin position, which is the origin position of the coordinate system of the processing station. The shuttle on which the workpiece is loaded at the supply station is moved to the processing station. The shuttle origin position is set to the processing station origin position based on the correction value, At the processing station, at least one of the shuttle and the processing tool is moved relative to the other, causing the processing tool to perform the processing step on the workpiece. After the processing step has been performed on the workpiece, the shuttle is moved to the discharge station. Manufacturing method.

2. The plurality of stations includes a plurality of processing stations, The correction value is calculated for each processing station, The shuttle origin position is set to the origin position of each processing station based on the correction value for each processing station. The manufacturing method according to claim 1.

3. The unique correction value is calculated according to the combination of the shuttle and the workpiece mounted on the shuttle. The manufacturing method according to claim 1 or 2.

4. The aforementioned plurality of stations include a measurement station, The actual position of the shuttle located at the measurement station is measured, The correction value is calculated based on the error between the reference position of the measurement station and the actual position. The manufacturing method according to claim 1 or 2.

5. The measurement station and the processing station are located in the same segment. Based on the correction value calculated at the measurement station within the same segment, the shuttle origin position of the processing station is set. The manufacturing method according to claim 4.

6. The correction value includes a Z-coordinate correction value for setting the Z-coordinate value of the shuttle origin position to the Z-coordinate value of the processing station origin position. Using the aforementioned Z-coordinate correction value, the error between the Z-coordinate value of the shuttle origin position and the Z-coordinate value of the processing station origin position is set to within ±0.5 mm. The manufacturing method according to claim 1 or 2.

7. The correction value includes an X-coordinate correction value and / or Y-coordinate correction value for setting the X-coordinate value and / or Y-coordinate value of the shuttle origin position to the X-coordinate value and / or Y-coordinate value of the processing station origin position. Using the aforementioned X-coordinate correction value and / or Y-coordinate correction value, the error between the X-coordinate and / or Y-coordinate values ​​of the shuttle origin position and the X-coordinate and / or Y-coordinate values ​​of the processing station origin position is set to within ±0.5 mm, respectively. The manufacturing method according to claim 1 or 2.

8. The machining process performed at the machining station is: A step of cutting a composition introduced into the workpiece to form a groove while moving at least one of the cutting machine and the shuttle of the processing tool relative to the other, and / or A process of depositing the fluid composition by introducing it from the nozzle of the processing tool onto the workpiece mounted on the shuttle, while moving at least one of the nozzle and the shuttle relative to the other. including The manufacturing method according to claim 1 or 2.

9. The aforementioned machining process is performed by a control device executing an NC program using G-code. The manufacturing method according to claim 1 or 2.

10. A manufacturing apparatus for personal care products applicable to the human body, The stage consists of multiple segments, each containing an electromagnetic coil, and has multiple stations. Multiple shuttles, each having a permanent magnet, transport the workpiece, which is a precursor to the personal care product, by floating and moving on the stage. Control device and It is equipped with, The aforementioned multiple stations are A supply station from which the aforementioned workpieces are supplied, A machining station in which a machining process is performed on the workpiece mounted on the shuttle using a machining tool, The discharge station from which the workpiece is discharged includes, The control device is A correction value specific to the shuttle is calculated to set the shuttle origin position, which is the origin position of the shuttle, to the processing station origin position, which is the origin position of the coordinate system of the processing station. The shuttle on which the workpiece is loaded at the supply station is moved to the processing station. The shuttle origin position is set to the processing station origin position based on the correction value, At the processing station, at least one of the shuttle and the processing tool is moved relative to the other, causing the processing tool to perform the processing step on the workpiece. After the processing step has been performed on the workpiece, the shuttle is moved to the discharge station. Manufacturing equipment.

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