| 摘要 |
This device comprises: - an umbrella mandrel (14) with deployable arms (20) designed to come to bear against the internal periphery of the opening in the deployed position; and - a motorised unit (13) for operating the umbrella mandrel, designed to be connected to a manipulator robot (R) and to come into removable engagement with an end-fitting (17) for operating the umbrella mandrel. Application to the automated positioning of a shut-off plug on a primary length of pipe of a pressurised water nuclear reactor steam generator. <IMAGE>
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