| 摘要 |
PCT No. PCT/JP93/00769 Sec. 371 Date Jan. 11, 1995 Sec. 102(e) Date Jan. 11, 1995 PCT Filed May 12, 1994 PCT Pub. No. WO94/26475 PCT Pub. Date Nov. 24, 1994A positioning device for positioning a robot unit (30) of a multi-articulated type industrial robot at an origin reference position having a polygonal male jig (52) attached to an extremity of the robot unit (30), and a polygonal female jig (58) suitable for being mated with the polygonal male jig (52), and the flat surfaces of the polygonal male jig (52) are brought into contact with the flat surfaces of the polygonal female jig (58) to position the robot unit (30) at the origin reference position. When mating the male jig (52) and the female jig (58) with each other in close surface-to-surface contact, the male jig (52) is pressed by pressing means (64) to bring the predetermined flat surfaces of the polygonal male jig (52) into close contact with the predetermined flat surfaces of the female jig (58).
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