KR100417099B1 - System and method for controlling robot for EMI gasket sealing of electronic device - Google Patents

Abstract

PURPOSE: A system and a method for controlling a robot sealing an electromagnetic wave shielding gasket of an electronic equipment are provided to improve the efficiency of works by automatically programming a work program for a work content inputted through a touch screen. CONSTITUTION: A robot main frame(14) performs a gasket sealing work. A robot controller(13) drives and controls the robot main frame(14). A work programming device(PC)(12) programs a work program automatically to download a work program file to the robot controller(13). As a teach point appointing device(teach pendant)(11) moves the robot main frame(14) to a position for working, it designates a teach point to a corresponding position to download the teach point file to the robot controller(13).

Description

System and method for controlling electromagnetic shielding gasket sealing robot of electronic device {System and method for controlling robot for EMI gasket sealing of electronic device}

The present invention relates to a technique for controlling a robot, and more particularly, a robot control system that can be used to seal a gasket with conductive silicon for shielding electromagnetic waves inside a case to block electromagnetic waves generated from an electronic device body, for example. And to a method.

Even if the density of electronic components increases and the operation speed increases, the electromagnetic wave generated from each component affects external or adjacent components, causing harm to human body or causing noise or malfunction. Acts as

In this case, conductive materials capable of absorbing or reflecting EMI energy between or among EMI sources to block electromagnetic interference (EMI), which are undesirable electromagnetic interferences induced or radiated from electronic devices. The gasket is placed.

The conductive gasket is a conductive interface material used to electrically contact a portion corresponding to an electrical ground in a printed circuit board (PCB), and EMI energy generated by forming a conductive path between EMI sources. Shield or dissipate to ground.

For example, a method of sealing a conventional gasket on a mobile phone, which is one of the highly integrated communication equipments, in which an EMI problem among electronic devices is particularly emerging, is a liquid conductive material inside the mobile phone case in the same form as the ground plane on the PCB board. After discharging the silicon, it is assembled by bringing it into close contact with the ground plane on the PCB board.

Gasket sealing of the inside of the case of the mobile phone with the conductive silicon can be done quickly and consistently, thereby controlling the robot to discharge the conductive silicon for electromagnetic wave blocking so that the number of workers and working time can be greatly reduced. Is executed.

Here, as the robot control system 1 for gasket sealing for blocking electromagnetic waves of an electronic device including a conventional mobile phone, as shown in FIG. 1, the robot body 4 and the robot body 4 are controlled. A teach pendant (2) for inputting various data such as a teach point, a work command, and the like, and a robot body connected to the teach pendant (2) via a communication cable, according to a control signal of the teach pendant (2). 4) the robot controller 3 for driving.

Therefore, in order to control the robot control system 1 to perform the gasket sealing operation while performing the repeated operation normally, the operator is shown in FIG. 2 as a user interface while looking at a grid paper on which coordinate values to be prepared in advance are drawn. In addition to all the robot-level commands defining the sealing work contents by manipulating the conventional teach pendant 2 as described above, teach points that specifically define a work position to be applied to these commands. Since all must be entered, the teaching process itself is not only complicated but also difficult.

Due to this, the input operation of the commands and teach points for controlling the robot to execute the gasket sealing operation takes a lot of time, and the input operation itself is complicated, and when the modification is applied during the gasket sealing operation, Efforts such as requiring a new input operation corresponding to the contents of the gasket sealing work also become too large.

The present invention is to solve the above problems, in order to block the electromagnetic waves generated from the main body of the electronic device, it is possible to simplify the creation of a work program for executing the gasket sealing with conductive silicon for shielding electromagnetic waves inside the case. It is an object of the present invention to provide a robot control system and method capable of easily and precisely designating a teach point indicating a working position of a robot for performing a gasket sealing.

1 is a block diagram showing a conventional robot control system for sealing a gasket with conductive silicon for shielding electromagnetic waves inside a case of an electronic device,

2 is a photograph showing an example of a conventional teach pendant used in the robot control system of FIG.

3 is a block diagram illustrating a robot control system according to an exemplary embodiment of the present invention in which a gasket sealing is performed with conductive silicon for blocking electromagnetic waves inside a case of an electronic device,

4 is a photograph showing an example of a simplified teach pendant as a teach point designation apparatus for designating a robot point as a teach point in the robot control system of FIG.

FIG. 5 is a flowchart illustrating a process of controlling a robot to seal a gasket with conductive silicon for blocking electromagnetic waves in a case of an electronic device in the robot control system of FIG. 3;

6A to 6P illustrate an example in which a process of controlling a robot to seal a gasket with conductive silicon for blocking electromagnetic waves inside a case of an electronic device in the robot control system of FIG. 3 is displayed on a touch screen of a PC. It is.

<Explanation of symbols for the main parts of the drawings>

10: robot control system according to an embodiment of the present invention

11: Teach Pendant 12: PC

121: touch screen 122: CPU

123: RAM 124: ROM

125: hard disk 13: robot controller

14: robot body

In order to achieve the above object, the present invention is a system for controlling a robot to seal the gasket with conductive silicon for shielding electromagnetic waves inside the case in order to block the electromagnetic waves generated from the main body of the electronic device, the robot performing a gasket sealing operation A main body; A robot controller which drives and controls the robot body; A work program preparation device which automatically creates a work program by drawing and editing a work content to be executed by the robot body and downloads the work program file to the robot controller; And a teach point designation device for designating a teach point at a corresponding position while moving the robot body to a position where the robot body will work, and downloading a teach point file to the robot controller. Provides blocking gasket sealing robot control system.

In addition, in order to achieve the above object, the present invention includes a robot body for performing a gasket sealing operation, the gasket sealing with a conductive silicon for shielding electromagnetic waves inside the case to block electromagnetic waves generated from the main body of the electronic device; A robot controller for driving and controlling the robot body; A work program creating device for downloading a work program file to the robot controller; And a teach point designation device for downloading a teach point file to the robot controller, wherein the work is automatically performed by drawing and editing a work content to be executed by the robot body in the work program creation device. A method of controlling electromagnetic wave blocking gasket sealing robot of an electronic device, characterized in that a program is created, and the teach point designation device moves the robot body to a position to be worked on, and designates a teach point at a corresponding position. to provide.

Preferably, when the robot body divides the work environment to be executed into a reference axis and one or more corresponding axes to designate a position for the robot body to work as a teach point, all of the teach points corresponding to all the work positions of the reference axis and the reference axis are used. Only the teach point corresponding to the initial working position of the corresponding axis corresponding to the axis may be designated.

More preferably, the robot main body may download a work program file and a teach point file corresponding to a reference axis, a corresponding axis, or a use axis of the reference axis and the corresponding axis, which are set to be suitable for the work environment to be executed, by the robot controller. Also good.

Hereinafter, with reference to the accompanying drawings, preferred embodiments of the electromagnetic shielding gasket sealing robot control system and method of the electronic device of the present invention will be described in detail.

FIG. 3 is a block diagram showing a robot control system according to an embodiment of the present invention in which a gasket sealing is performed with conductive silicon for shielding electromagnetic waves inside a case of an electronic device, and reference numeral 10 denotes a robot control system. A teach point file and a work program file from the teach pendant as a teach point designation device, a PC as a work program creation device at 12, a robot controller at 13, and such a teach pendant 11 and a PC 12; Under the control of the downloaded robot controller 13, it consists of the robot body of reference numeral 14 which performs the gasket sealing operation with electroconductive silicon for electromagnetic wave blocking in the case of the electronic device which is a workpiece | work object.

In general, in order to operate the robot control system, the user must input parameters such as moving speed and work speed related to the operation of the robot body, position information and work instructions necessary for the robot's work, and execute the control program. do.

Since the conventional teach pendant 2 is inconvenient for a user interface for such an input, in the embodiment of the present invention, a simplified teach pendant 11 for designating an actual work position and a PC 12 for creating a work program and setting parameters are provided. The user interface is very convenient by letting you execute tasks separated by.

As shown in Fig. 4, the teach pendant 11 is composed of only a joke key for manipulating the movement of each axis, a selection key for selecting the teach point, and a storage key for storing the specified teach point. While moving the robot body 14 to the position where the robot body 14 will work, only the function of designating a teach point at the corresponding position and storing it in the form of a file is mainly executed.

In this case, the work position must be precisely adjusted while visually checking the end effector (not shown in the drawing) of the robot body 14 that executes the work to the case of the electronic device that is the work object due to the nature of the gasket sealing work. In addition, the teaching point is modified and stored while moving the robot body 11 to approach the actual value to reflect the characteristics of the jig itself or the deviation of the jig on which the work object is placed.

The PC 12 automatically creates a work program by drawing and editing work contents to be executed by the robot main body 14. In addition, parameters such as a moving speed and a working speed related to the operation of the robot body are also set.

The PC 12 has a touch screen 121 as an input and display device, a CPU 122 as a central computing device, a RAM 123 as a memory, a ROM 124 and a hard disk 125 via a bus. It is connected and configured, and may be implemented through a general purpose desktop computer or a notebook computer.

The touch screen 121 is, on the screen displayed in the process of controlling the robot sealing the gasket with conductive silicon for electromagnetic wave blocking in the case of the electronic device according to an embodiment of the present invention, using a finger or a pen, etc. Various inputs such as drawing work contents can be performed, and the results of these input operations are outputted and displayed again.

The CPU 122 controls the robot control system for gasket sealing with conductive silicon for blocking electromagnetic waves in the case of the electronic device according to the embodiment of the present invention as a whole.

The RAM 123 temporarily stores work contents input in a touch screen 121 or an external device (not illustrated), for example, a mouse or a keyboard. In addition, the teach point data designated through the teach pendant 11 are also temporarily stored.

In the ROM 124, various robot-level work instructions related to executing work contents in the form of pictures temporarily stored in the RAM 123, and the CPU 122 are related to the work contents in the form of pictures. A program is stored which executes control to automatically create a work program by selecting and combining various robot-level work commands. In addition, data on various parameters (speed, height, number of jobs, etc.) defining the operating state of the robot are also stored.

The hard disk 125 is a secondary storage device that stores various work programs and teach point data associated therewith in a file format. The job program file and the teach point file stored in the file form are downloaded to the robot controller 13 to execute the job of the robot body 14.

In addition, the robot controller 13 uses the serial communication, parallel communication, USB communication, or the like of RS532C, from the teach pendant 11 and the PC 12 as the user interface, and the robot body ( 14) Download the teach point file and the work program file for driving control.

The robot main body 14 carries out a job of sealing the inside of the case of the electronic device with conductive silicon for blocking electromagnetic waves while being driven by the drive control signal of the robot controller 13.

An example of a process of executing the control of the robot according to the embodiment of the present invention having the above-described configuration and function is shown in FIG. 3, in which the robot is used to seal the gasket with conductive silicon for blocking electromagnetic waves inside the case of the electronic device. 5 is a flowchart illustrating a control process and a process of controlling a robot to seal a gasket with conductive silicon for blocking electromagnetic waves inside a case of an electronic device in the robot control system of FIG. 3 is displayed on a touch screen of a PC. It demonstrates in detail with reference to FIG. 6A-FIG. 6P shown centering on an example.

First, when power is supplied to the robot control system 10, an initial screen, as shown in FIG. 6A, is displayed on the touch screen 121 of the PC 12.

The initial screen is provided with selection buttons of "origin setting", "work mode", "new program", "parameter creation", file management ", and" finish "which can be designated and input for carrying out the present invention. have.

Here, when the operator designates and inputs "origin setting", the end effector (not shown in the drawing) of the robot body 14 to execute the gasket sealing operation inside the case of the electronic device which is the work object is the origin of the absolute reference position. It is aligned to (S51).

Next, it is checked whether the content to be worked on has been executed before (S52).

As a result of the check in step S52, in the case of the content to be newly worked, a job file name to be executed is input (S53).

To this end, when a new program is designated and input from among the selection buttons of the initial screen, a screen for inputting a new program file name to be executed, as shown in FIG. 6B, is displayed on the touch screen 121.

In this case, in the embodiment of the present invention, the new program file name is inputted as "BCD" on the touch screen 121, and then "OK" is designated and input.

Then, on the touch screen 121, a screen for drawing and editing an area to be sealed with conductive silicon in the form of a picture is displayed inside the case of the electronic device as the work object, as shown in FIG. 6C. At this time, edit the work by drawing the work in the form of a picture while clicking on the picture editing icons displayed at the top.

The figure editing icon includes a graphic icon for displaying a sealing work area for discharging liquid conductive silicon in the case in the form of a straight line, arc, circle, dot, etc. in the same form as the ground plane on the PCB substrate, and conductive silicon. A discharge start and discharge end icon for determining whether to discharge the ink, a curve processing icon for interpolating discontinuous portions in the form of curves, and a moving speed for defining the operation state of the robot to compensate for the limitation of the display form of the figure icon. Although a parameter setting icon and an erase icon for setting a work speed, a work height, a discharge time and a discharge time, whether to interpolate and an interpolation degree are displayed, an icon for performing a suitable function can be added as necessary.

When the parameter setting icon is clicked, a screen as shown in FIG. 6D is displayed. On this screen, basic parameters can be entered or modified, and the set parameters are displayed on the right as they are applied to the subsequent gasket sealing work.

In the state where the parameter is set, by drawing and editing the work contents to be executed in the case of the electronic device which is the work object, a work program is automatically created to execute the sealing work in the same manner as the edited picture contents (S54).

For this purpose, as shown in FIG. 6E, each of the seals "P001" to "P004", "P005" to "P008", "P009" to "P012", and "P013" to "P017" Mark the work area with points.

Here, the process of displaying the sealing work area will be described first. If a straight line icon of the figure icon is clicked and then one sealing work area “P001” to “P004” is sequentially displayed, each point is connected by a straight line. After selecting and saving "Input" in this state, each sealing work area "P005" to "P008", "P009" to "P012", and "P013" to "P017" are displayed in turn. Connect the dots and select "enter" to save.

However, even when the shape of the sealing work area is not formed in a straight line, it should be possible to edit the shape appropriately, as shown in Fig. 6F, the points of the sealing work area from "P013" to "P017". It is possible to convert from "P014" to "P016" in the arc form.

In this case, three points including the starting point "P014" are displayed by clicking on the arc icon among the figure icons and displaying "P014" which is the starting point to be converted into the arc shape and clicking the arc icon again. Is converted to arc form until "P016".

In addition, by clicking the appropriate icon among the figure icons, the sealing work area of "P001" to "P004", "P005" to "P008", "P009" to "P012", and "P013" to "P017", respectively. You can easily convert the form of.

Next, it is necessary to determine whether or not to discharge conductive silicon according to the sealing working area. In general, since the conductive silicon for the sealing work is highly viscous, when the conductive silicon is discharged to the end of the sealing work area, the conductive silicon may be discharged to a portion other than the sealing work area, so that the discharge start and the discharge end are set.

In such a case, as shown in FIG. 6G, from "P001" to "P002", from "P003" to "P004", from "P009" to "P010" and from "P011" to "P012". The sealing work area can be set as a non-discharge area.

In this case, display the start point "P001" to be discharged, click the discharge start icon among the figure icons, display "P002" as the end point to stop the discharge again, and click the discharge end icon. , It is possible to set the sealing work area from "P001" to "P002" as a non-discharge area.

Other sealing work areas "P003" to "P004", "P009" to "P010", and "P011" to "P012" can also be set as a non-discharge area through the above process.

In addition, the curve processing icon of the figure icon compensates for the limitation of the shape of the figure icon by interpolating a discontinuous portion where the shape of the figure icon meets each other as a straight line or an arc or circle in the form of a curve.

As the discrete portions described above, as shown in FIG. 6G, as "P002", "P003", "P006", "P007", "P010", "P011", "P014" and "P016", Curve in a certain length or proportion. A certain length or a certain ratio for processing such curves can be entered and modified through a parameter setting icon.

As described above, when the sealing work content is drawn in the form of a picture, edited and stored in accordance with the work conditions, the robot automatically creates a work program by selecting and combining various robot-level work commands related to the work in the picture form. The hard disk 125 is stored in the form of a file (S55).

That is, as shown in Fig. 6G, from "P001" to "P002", from "P003" to "P004", from "P009" to "P010" and from "P011" to "P012" in the form of a picture. For the four sealing work areas drawn and edited, various robot-level work commands are selected and combined to automatically create one work program.

For example, "P001" to "P002" is a non-emission region of conductive silicon moving in a straight line, edited by drawing in the form of a picture from "P001" to "P002", and from "P002" to "P003" in a straight line. A part of a work program in which various robot-level work commands related to the sealing work contents, which are discharge areas of moving conductive silicon and non-discharge areas of conductive silicon moving in a straight line from "P003" to "P004", are selected and combined. Is as follows.

"011: JMOV P001

012: LMOV P002

013 CALL S

014: LMOV P003

015: CALL E

016: LMOV P004

017: CALL E1

018: JMOV P005 "

In this way, simply by editing the area for the sealing work in a picture and suitable to the working conditions, it is possible to automatically create a work program simply by a selection combination of various robot-level work commands.

In the above work program, when preparing a jig for fixing and supporting a plurality of cases of an electronic device as a work object for efficient work, the work content is the same, so that the entire work program is automatically created using only the number of teach points. .

Next, using the teach pendant 11, the robot body 14 teaches a position corresponding to an operation command and a work command while moving the robot body 14 to a work position of a case of an electronic device that is the object to be worked on. All points are designated (S54) and stored in the hard disk 125 in the form of a file. (S55)

In this case, as shown in FIG. 6H, the work environment to be executed by the robot body 14 is divided into an X axis as a reference axis and an H axis as a corresponding axis corresponding thereto.

Here, the teaching points "P001" to "P017" corresponding to all working positions of the X axis, which are reference axes, do not specify all of the teach points for the positions in which the robot body 14 is to work with respect to the use axes separated above. It is possible to minimize the designation of the teach point by designating only the teaching point "P201" corresponding to the initial working position of the H axis, which is the corresponding axis corresponding to all of the X-axis as the reference axis.

Therefore, the number of teach points specified above is equal to 18 of all teach points " P001 " to " P017 " of the X axis as the reference axis, and the teach point " P201 " corresponding to the initial working position of the corresponding axis H. With 19 in total, 17 teach point assignments can be omitted.

Minimizing the teach point designation is very easy, even when using another jig, as it is applied to the teach point of an existing file by reflecting only the difference between the origin or a specific reference point.

Next, the "work mode" is selected to select a file name to be worked on among the "current work file names" on the operation screen. (S56) In the embodiment of the present invention, the "current work file name" as shown in Fig. 6I. It is assumed that "BCD" is used to execute the job.

It is determined whether there is any modification in the contents of the " BCD " file which is selected above to execute the gasket sealing operation (S57).

As a result of the determination in step S57, when there is a correction in the contents of the "BCD" file, one of "program correction" and "point correction" located above the operation screen is selected and executed (S58).

First, in the case of modifying the work content to add the sealing work area among the contents of the "BCD" file, select "Modify program", and as shown in Fig. 6J, "P038" to "P038" in the work content. Save the input by adding a sealing work area that is formed until ".

In this case, in comparison with FIGS. 6I and 6K, it is possible to grasp the addition of the work program by adding the sealing work area formed from "P035" to "P038".

As can be seen again from this, simply expressing the sealing work contents in the form of a figure, the robot-level commands related to this can be selected and combined to automatically create a new work program.

Next, when correcting the teach point among the contents of the "BCD" file, "Modify point" is selected and "Offset setting" is selected.

By selecting such "offset setting", as shown in Fig. 6L, when the teach point of the use axis to be corrected is selected among the displayed teach points, the teach pendant 11 includes "X" of the selected teach point, The values of "Y", "Z" and "H" are displayed. In addition, the robot body 14 is moved and positioned to a teach point which is an existing value having values "X", "Y", "Z", and "H" designated above.

Use the jog key of the teach pendant 11 to display the values of "X", "Y", "Z" and "H" of the selected teach point, and then move the robot body 14 to the teach point to be corrected. After moving, apply the modified value as the current value.

In this case, the gap between the case of the electronic device, which is the object of work, and the end effect of the robot body should be kept very small due to the characteristics of the gasket sealing work. To prevent damage to the end effect.

In order to execute the operation of the robot main body 14 in the state where "program correction" and "point correction" have been performed or not corrected, the work program file and the teach point file corresponding to the robot controller 13 are transferred. Download (S59)

In this case, as shown in FIG. 6M, one of an X axis, a reference axis, an H axis, or a reference axis, and an H axis, which is a reference axis, which is set to be suitable for the work environment to be executed by the robot body 14. Download the work program file and the teach point file corresponding to the axis of use to the robot controller.

It can be seen that the use axis set above is contrasted with FIG. 6N showing the work program in the case of using the two axes and FIG. 6O showing the work program in the case of the use of the X-axis as the reference axis.

In the embodiment of the present invention, what is divided into the X axis, which is a reference axis, and the H axis, which is a corresponding axis, is to select an optimal work type according to the working environment. That is, it can be set when you want to check the work result after designating the teach point on the X axis which is the reference axis, and when you want to test the work result after modifying the offset value on the H axis which is the corresponding axis. Make sure When setting both the X axis as the reference axis and the H axis as the corresponding axis, the X axis as the reference axis and the H axis as the corresponding axis are set in the state where the X axis as the reference axis is set during the operation of the X axis as the reference axis. The object to be worked on is loaded so that work efficiency can be improved by continuous work.

On the screen shown in FIG. 6N or FIG. 6O, the operation method is set to “AUTO” and the “operation” is selected to execute the corresponding job. On the left side, the robot-level command corresponding to the job content edited in the figure form is executed. The programs written in the list are listed so that you can check the sequence when the operation method is set to "STEP" and "Operation" is selected, and at the bottom, "work time", work quantity ", cumulative time" and "accumulated quantity" Display to confirm the amount of work.

Next, as a result of the checking in step S52, when the work content has been executed previously, a work file name to be executed is selected (S56).

To this end, if a "work mode" is specified and input from among the selection buttons of the initial screen, a screen as shown in Fig. 6K is displayed on the touch screen 121, and when "current work file name" is clicked on, A screen is displayed listing the job file names that have been executed previously, as shown in FIG. 6P.

In this case, in the embodiment of the present invention, a program file name previously stored as a file to be worked on the touch screen 121 is selected as "TEST".

Thereafter, the same process as described above with respect to steps S57 to S59 is performed.

This invention is not limited to the above embodiments, various modifications are possible within the scope of the invention described in the claims, and such modifications are also included within the scope of the invention.

For example, the embodiment of the present invention has been described as sealing the gasket with conductive silicon for shielding electromagnetic waves inside the case of the electronic device as the work object, but for sealing a variety of materials to the work object for a specific use or purpose. In the case of controlling the robot, any one can be applied.

As described in detail above, according to the electromagnetic shielding gasket sealing robot control system and method of the electronic device of the present invention, the work program can be automatically and easily set by drawing and editing work contents for gasket sealing directly on the touch screen. Since it is created, even a general worker unfamiliar with the work command can easily grasp, prepare and modify the work contents of the work program. In addition, it is possible to precisely specify the teach point indicating the working position of the robot for gasket sealing with a minimum.

Therefore, it is possible to teach the desired robot by the minimum operation required, and greatly reduce the time and effort required for the high efficiency of the work and the modification of the work program.

Claims (4)

In order to block the electromagnetic wave generated from the main body of the electronic device, a system for controlling a robot that seals the gasket with conductive silicon for blocking electromagnetic waves inside the case, A robot body for performing a gasket sealing operation; A robot controller which drives and controls the robot body; A work program preparation device which automatically creates a work program by drawing and editing a work content to be executed by the robot body and downloads the work program file to the robot controller; And, Teach point designation device for moving the robot body to a position to work the robot body to designate a teach point at the position, and download the teach point file to the robot controller; electromagnetic shielding gasket of the electronic device Sealing robot control system. A robot body for performing a gasket sealing operation in which a gasket seal is made of conductive silicon for shielding electromagnetic waves inside the case to block electromagnetic waves generated from the main body of the electronic device; A robot controller which drives and controls the robot body; A job program creating device for downloading a job program file to the robot controller; And a teach point designation device for downloading a teach point file to the robot controller. The work program creating device automatically creates a work program by drawing and editing work contents to be executed by the robot body, The method of controlling the electromagnetic shielding gasket sealing robot of an electronic device, wherein the teach point designation device designates a teach point at a corresponding position while moving the robot body to a position where the robot body will work. The method of claim 2, When the robot body divides the work environment to be executed into a reference axis and one or more corresponding axes to designate a position for the robot body to work as a teach point, all of the teach points corresponding to all the work positions of the reference axis and the reference axis correspond to the reference axis. A method of controlling an electromagnetic shielding gasket sealing robot for an electronic device, characterized by specifying only a teach point corresponding to an initial working position of a corresponding shaft. The method of claim 3, wherein The electronic device characterized in that the robot program downloads a work program file and a teach point file corresponding to a reference axis, a corresponding axis, or a use axis of the reference axis and the corresponding axis set to be suitable for the work environment to be executed by the robot body. Control method of electromagnetic shielding gasket sealing robot.