WORK DEVICE DISPLACEMENT MECHANISM AND DISPLACEMENT METHOD

To use the pressure difference between a suction pressure and an atmospheric pressure during adsorption of an adsorption-type work robot as driving energy for a work device displacement mechanism, to simplify the configuration of the work device displacement mechanism and reduce its weight, without generating excessive pressing force (pressing load) on a work device or requiring other power.SOLUTION: A work device displacement mechanism comprises: a body attachment member 2 attached to the inside of a vacuum chamber 33 of an adsorption type work robot 31; a link mechanism 5 that moves the body attachment member and a holding member 4 for holding the work device 3 closer or farther apart; a bellows 6 attached between the body attachment member 2 and the holding member 4; a retraction member 10 that contracts the bellows 6; and an electromagnetic valve 7 that switches a pressure inside the bellows 6 to be the same as or different from a pressure inside the vacuum chamber 33. When performing work such as non-destructive testing, the work device displacement mechanism is configured to suction air into the bellows 6 to make an extended state, and keep the work device 3 protruding.SELECTED DRAWING: Figure 4 【課題】吸着型作業ロボットの吸着の際の吸引圧力と大気圧力の差圧を作業装置変位機構の駆動エネルギーに利用することにより、作業装置に過大な押付力（押し荷重）が発生せず、また他の電力を必要とすることなく、この作業装置変位機構を簡単な構成にすると共に、その軽量化を図る。【解決手段】吸着型作業ロボット３１の真空チャンバー３３内部に取り付けられる、本体取付部材２と、これと作業装置３を保持する保持部材４とを近づけ又は遠ざけるリンク機構５と、本体取付部材２と保持部材４との間に取り付けられたベローズ６と、ベローズ６を収縮させる引き戻し部材１０と、ベローズ６内部の圧力を、真空チャンバー３３内部の圧力と同じ又は異なるように切り換える電磁弁７と、を備え、非破壊試験などの作業を行うときは、ベローズ６内部に空気を吸入し、伸長状態にして作業装置３が突出した状態を保つように構成した。【選択図】図４