Industrial robot with automatic centering

摘要

The horizontal movement actuators 3 of an industrial robot arm 2 are deenergized after an initial engagement between a workpiece 8 grasped by a robot hand and a base member 10 disposed on a support table 12 so that any axial misalignment between the workpiece and a hole 11 in the base member is automatically corrected with the guidance of a chamfer 8a, 10b provided on the workpiece and/or the hole.