"Inevitably that cannot work for everyone, since then there would be no money coming in to pay us"
The recent article on this was predicated on the assumption that automation would give rise to mass unemployment.* The proposal there was to tax the work of the robots. This in itself might not be sufficient as the work could be off-shored to somewhere with lower tax rates. It would take more than simply taxing robotics but there could still be means to levy the necessary taxes. In those specific circumstances one could see how it might work.
*AFAIK mass unemployment in the past has been a result of economic meddling rather then mechanisation but I suppose there's always a first time.