| 摘要 |
<p>Self-contained apparatus able to move along a non-horizontal surface and comprising a first train and a second train (48) connected to the first train by means allowing to obtain a relative displacement by translation and rotation in a plane parallel to the surface, and first and second holding means (2) carried respectively by the first and the second trains and able to fix removably the apparatus on the surface, wherein the holding means carried by at least one of the trains are connected to said train through means capable of displacing said train with respect to said holding means in a direction perpendicular to the surface. Preferably, said holding means (2) of the first train are comprised of a plurality of adherence devices forming a polygon and arranged outside the center of the holding means of the second train, and said apparatus further comprises a processing or inspection tool (60) mounted so as to pivot with respect to said first train.</p> |
