Note: Descriptions are shown in the official language in which they were submitted.
TITLE: SYSTEM AND METHOD FOR AUTOMATED CALANDRIA TUBE INSTALLATION
CROSS-REFERENCE
[0001] This application claims priority to United States Provisional Patent
Application
No. 63/152,823 entitled "System and Method for Automated Calandria Tube
Installation"
filed on February 23, 2021, United States Provisional Patent Application No.
63/168,714
entitled "System and Method for Automated Calandria Tube Installation" filed
on March
31, 2021, and United States Provisional Patent Application No. 63/168,690
entitled
"System and Method for Automated Calandria Tube Installation" filed on March
31, 2021.
FIELD
[0002] This disclosure relates generally to systems and methods for
calandria tube
installation, more specifically to automated calandria tube installation
during
refurbishment of a nuclear reactor core.
INTRODUCTION
[0003] The following is not an admission that anything discussed below is
part of the
prior art or part of the common general knowledge of a person skilled in the
art.
[0004] Known methods for installing calandria tubes in a calandria of a
nuclear
reactor core involve deploying skilled workers into the nuclear reactor vault
which houses
the nuclear reactor core. Within the vault, the workers use a plurality of
hand-held and/or
hand-controlled tools when installing the calandria tubes in the calandria of
the nuclear
reactor core. Although there is no nuclear fuel within the nuclear reactor
core during the
calandria tube installation process, components of the nuclear reactor core
can contain
and emit high amounts of radiation. Accordingly, the workers can be subjected
to high
levels of radiation when performing the calandria tube installation. Further,
because of
the complexity and scall of the project, workers may be required to be in the
vault for
long periods of time.
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SUMMARY
[0005] This summary is intended to introduce the reader to the more
detailed
description that follows and not to limit or define any claimed or as yet
unclaimed
invention. One or more inventions may reside in any combination or sub-
combination of
the elements or process steps disclosed in any part of this document including
its claims
and figures.
[0006] In one aspect of this disclosure, which may be used by itself or
with one or
more of the other aspects disclosed herein, there is provided a calandria tube
installation
tool set that comprises an installation processor for operating various tools
of the
calandria tube installation tool set. Installing calandria tubes in a
calandria of a nuclear
reactor with a calandria tube installation tool set as described herein allows
for calandria
tube installation to be performed with limited, or no, human interaction with
tools within
the vault during the installation process.
[0007] By limiting the amount of human interaction with tools within the
vault,
workers may no longer be required to be exposed to high levels of radiation
for prolonged
periods of time.
[0008] In other aspects, by automating calandria tube installation,
calandria tube
installation projects may be completed hundred of hours faster than if they
were
completed by manual operation of tools by workers within the vault.
[0009] In one aspect of this disclosure, which may be used by itself of
with one or
more of the other aspects disclosed herein, there is method of installing a
calandria tube
in a nuclear reactor core with a calandria tube installation tool set
comprising an
installation processor. The method may comprise operating the installation
processor to:
(a) position a calandria tube insertion tool of the calandria tube
installation tool
set in a calandria tube receiving position;
(b) position the calandria tube insertion tool and the calandria tube received
by
the calandria tube insertion tool so that the calandria tube is aligned with a
lattice site of a first tube sheet of the nuclear reactor core; and
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Date Recue/Date Received 2022-02-23
(c) operate the calandria tube insertion tool to insert the calandria tube
into the
lattice site of the first tube sheet.
[0010] In any embodiment, the method may further comprise operating the
installation processor to:
(a) position a calandria tube guide tool of the calandria tube installation
tool set
in a lattice site of a second tube sheet of the nuclear reactor core wherein
the
lattice site of the second tube sheet is aligned with the lattice site of the
first
tube sheet; and
(b) retract the calandria tube guide tool after operating the calandria tube
insertion tool to insert the calandria tube into the lattice site of the first
tube
sheet.
[0011] In another aspect of this disclosure, which may be used by itself or
with one
or more of the other aspects disclosed herein, there is provided a system for
installing a
calandria tube in a nuclear reactor core. The system may include an insertion
tool set. The
insertion tool set may include (a) a first slide table for moving about a
first tube sheet of
the nuclear reactor core; and (b)a calandria tube insertion tool mounted to
the first slide
table, the calandria tube insertion tool for inserting the calandria tube into
a lattice site
of the first tube sheet. The system may also include a receiving tool set. The
receiving tool
set may include (a) a second slide table for moving about a second tube sheet
of the
nuclear reactor core; and (b) a calandria tube guide tool mounted to the
second slide
table, the calandria tube guide tool for guiding the calandria tube into a
lattice site of the
second tube sheet. The system may also include a processor in communication
with the
insertion tool set and the receiving tool set. The processor may be configured
to:
(a) position the first slide table so that the calandria tube insertion tool
is aligned
with the lattice site of the first tube sheet;
(b) position the second slide table so that the calandria tube guide tool is
aligned
with the lattice site of the second tube sheet;
(c) operate the calandria tube insertion tool to insert the calandria tube
into the
lattice site of the first tube sheet; and
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Date Recue/Date Received 2022-02-23
(d) operate the calandria tube guide tool to guide the calandria tube into the
lattice site of the second tube sheet.
[0012] In any embodiment, the insertion tool set may further comprises at
least one
of a calandria tube insert delivery tool, a swab tool, a bore gauge tool, a
thumbtack
handling tool, a leak test tool, and a sealing tool.
[0013] In another aspect of this disclosure, which may be used by itself or
with one
or more of the other aspects disclosed herein, there is provided a calandria
tube insertion
tool. The calandria tube insertion tool may include a clamp for holding a
calandria tube
having a longitudinal calandria tube axis. The clamp may be mounted to a
trolley that is
moveable between a first trolley position and a second trolley position along
a trolley axis.
The trolley axis may be parallel to the longitudinal calandria tube axis when
the calandria
tube is held by the clamp. The calandria tube insertion tool may also include
a driving
shaft having a driving head for engaging an end of the calandria tube. The
driving head
may be movable between a first driving head position and a second driving head
position
along a driving head path. The driving head and the trolley may be
independently
movable.
[0014] In any embodiment, in the first driving head position the driving
head may not
aligned with the longitudinal calandria tube axis when the calandria tube is
held by the
clamp. In the second driving head position the driving head may be aligned
with the
longitudinal calandria tube axis when the calandria tube is held by the clamp.
[0015] In any embodiment, in the first driving head position the driving
head may be
below the clamp.
[0016] In any embodiment, the driving shaft may have a longitudinal driving
shaft
axis. The longitudinal driving shaft axis may be parallel to the longitudinal
calandria tube
axis when the calandria tube is held by the clamp when the driving head is in
the first
driving head position. The longitudinal driving shaft axis may be aligned with
the
longitudinal calandria tube axis when the calandria tube is held by the clamp
when the
driving head is in the second driving head position.
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Date Recue/Date Received 2022-02-23
[0017] In any embodiment, the trolley may include a first roller having a
first roller
axis perpendicular to the longitudinal calandria tube axis when the calandria
tube is held
by the clamp. The trolley may include a second roller having a second roller
axis
perpendicular to the longitudinal calandria tube axis when the calandria tube
is held by
the clamp. The first roller may be for supporting the calandria tube and the
second roller
may be for supporting the driving shaft.
[0018] In any embodiment, the first roller may have a first roller first
position and a
first roller second position. The second roller may have a second roller first
position and
a second roller second position. The first roller axis may be vertically
higher than the
second roller axis when the first roller is in the first roller first
position. The second roller
axis may be vertically higher than the first roller axis when the first roller
is in the first
roller second position.
[0019] In any embodiment, the clamp, the first roller, and the second
roller may be
attached to a gimbal and the gimbal may be attached to the trolley.
[0020] In another aspect of this disclosure, which may be used by itself or
with one
or more of the other aspects disclosed herein, there is a method of installing
a calandria
tube in a nuclear reactor core with a calandria tube installation tool set
comprising an
installation processor. The method comprising operating the installation
processor to: (a)
operate a first tool of the calandria tube installation tool set on a first
lattice site; and (b)
operate a second tool of the calandria tube installation tool set on a second
lattice site.
Wherein the first tool and the second tool are operated at least partially at
the same time.
[0021] In any embodiment, the first tool may be a sealing tool and the
second tool
may be a leak test tool.
[0022] In any embodiment, the first tool may be operated for a longer
period of time
than the second tool.
[0023] In any embodiment, operation of the second tool may completely
overlap with
operation of the first tool.
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Date Recue/Date Received 2022-02-23
[0024] In any embodiment, the first lattice site and the second lattice
site may be
located in a row of lattice sites. A third lattice site and a fourth lattice
site may be
intermediate the first lattice site and the second lattice site in the row of
lattice sites.
[0025] In another aspect of this disclosure, which may be used by itself or
with one
or more of the other aspects disclosed herein, there is a calandria tube
insert delivery tool
comprising: a ring-shaped body extending along a calandria tube insert
delivery tool axis;
and a grip extending from the body generally along the calandria tube insert
delivery tool
axis for gripping a calandria tube insert.
[0026] In any embodiment, the grip may comprise a plurality of fingers.
[0027] In any embodiment, the body may be mountable to a rolled joint guide
sleeve.
[0028] In another aspect of this disclosure, which may be used by itself or
with one
or more of the other aspects disclosed herein, there is a method of delivering
a calandria
tube insert to a lattice site of a tube sheet comprising: (a) providing a
calandria tube insert
to a calandria tube insert delivery tool mounted to a rolled joint guide
sleeve; and (b)
inserting the rolled joint guide sleeve into the lattice site of the tube
sheet.
[0029] In any embodiment, a robot may be controlled by an installation
processor to
provide the calandria tube insert to the calandria tube insert delivery tool.
[0030] In any embodiment, after inserting the rolled joint guide sleeve
into the lattice
site of the tube sheet, an expander may be advanced into the rolled joint
guide sleeve.
[0031] In any embodiment, after advancing the expander into the rolled
joint guide
sleeve, the calandria tube insert may be rolled to form a roll joint to secure
a calandria
tube to the tube sheet.
[0032] In any embodiment, the method may further comprise retracting the
expander and the rolled joint guide sleeve from the lattice site.
[0033] It will be appreciated by a person skilled in the art that an
apparatus or method
disclosed herein may embody any one or more of the features contained herein
and that
the features may be used in any particular combination or sub-combination.
[0034] These and other aspects and features of various embodiments will be
described in greater detail below.
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Date Recue/Date Received 2022-02-23
BRIEF DESCRIPTION OF THE DRAWINGS
[0035] For a better understanding of the described embodiments and to show
more
clearly how they may be carried into effect, reference will now be made, by
way of
example, to the accompanying drawings in which:
[0036] FIG. 1 is a perspective view of a nuclear reactor core;
[0037] FIG. 2 is a perspective view of a fuel channel assembly;
[0038] FIG. 3A is a front side view of a nuclear reactor core and an
insertion tool set;
[0039] FIG. 3B is a back side view of the nuclear reactor core of FIG. 3A
and a receiving
tool set;
[0040] FIG. 4 is a perspective view of a calandria tube installation tool
set, an insertion
tool set of the calandria tube installation tool set is shown mounted to a
heavy work table
which is mounted to a retube tooling platform, a receiving tool set of the
calandria tube
installation tool set is shown mounted to a heavy work table which is mounted
to a retube
tooling platform;
[0041] FIG. 5 is a perspective view of the insertion tool set of FIG. 4;
[0042] FIG. 6 is a perspective view of the receiving tool set of FIG. 4;
[0043] FIG. 7A is a perspective view of a slide table;
[0044] FIG. 7B is a second perspective view of the slide table of FIG. 7A;
[0045] FIG. 8A is a perspective view of the slide table of FIG. 7A with a
robot mounted
to a slide rail of the slide table;
[0046] FIG. 8B is a side view of the slide table of FIG. 8A;
[0047] FIG. 9A is a perspective view of an alternative embodiment of a
robot, the
robot shown holding a tool;
[0048] FIG. 9B is an enlarged perspective view of the of robot of FIG. 9A;
[0049] FIG. 9C is a second enlarged perspective view of the robot of FIG.
9A;
[0050] FIG 9D is a cross-section of the robot of FIG. 9B taken along line
9D-9D;
[0051] FIG. 10A is a perspective view of a swab tool;
[0052] FIG. 10B is a cross-sectional view of the swab tool of FIG. 10A
taken along line
10B-10B;
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Date Recue/Date Received 2022-02-23
[0053] FIG. 11A is a perspective view of a calandria tube insert delivery
tool;
[0054] FIG. 11B is cross-sectional view of the calandria tube insert
delivery tool of FIG.
11A taken along line 11B-11B;
[0055] FIG. 11C is a perspective view of a second example of a calandria
tube insert
delivery tool, the calandria tube insert delivery tool shown mounted to a
sealing tool and
a calandria tube insert shown gripped by the calandria tube insert delivery
tool;
[0056] FIG. 12A is a perspective view of a bore gauge tool;
[0057] FIG. 12B is a cross-sectional view of the bore gauge tool of FIG.
12A taken along
line 12B-12B;
[0058] FIG. 13 is a perspective view of the insertion tool set of FIG. 5,
tools of the
insertion tool set of FIG. 5 have been removed for illustrative purposes;
[0059] FIG. 14A is a side view a clamp of the insertion tool of FIG. 13, a
clamp of the
insertion tool set shown in a first position;
[0060] FIG. 14B is a side view of the clamp of FIG. 14A, the clamp shown a
second
position;
[0061] FIG. 15 is an enlarged partial perspective view of the receiving
tool set of FIG.
6;
[0062] FIG. 16 is a perspective view of the insertion tool set of FIG. 5;
[0063] FIG. 17 is a perspective view of the receiving tool set of FIG. 6;
[0064] FIG. 18 is a front side view of the insertion tool set of FIG. 16
and a robotic tool
carrier shown gripping a calandria tube;
[0065] FIG. 19 is a perspective view of the insertion tool set of FIG. 18,
the calandria
tube is shown held by a clamp of the insertion tool set;
[0066] FIG. 20 is a perspective view of the insertion tool set of FIG. 19,
a thumbtack
handling tool of the insertion tool set shown in an advanced position;
[0067] FIG. 21 is a perspective view of the insertion tool set of FIG. 20,
the thumbtack
handling tool shown in a retracted position;
[0068] FIG. 22 is a perspective view of the insertion tool set of FIG. 21,
a robot of the
insertion tool set shown gripping a swab tool;
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Date Recue/Date Received 2022-02-23
[0069] FIG. 23 is a perspective view of the insertion tool set of FIG. 22,
the robot
shown loading a swab to the swab tool;
[0070] FIG. 24 is a perspective view of the insertion tool set of FIG. 23,
the robot
shown operating the swab tool;
[0071] FIG. 25 is a perspective view of the insertion tool set of FIG. 24,
the robot
shown disposing the swab;
[0072] FIG. 26 is a perspective view of the insertion tool set of FIG. 25,
the robot
shown returning the swab tool;
[0073] FIG. 27 is a perspective view of the receiving tool set of FIG. 17,
a robot of the
insertion tool set shown operating a swab tool of the receiving tool set;
[0074] FIG. 28 is a perspective view of the insertion tool set of FIG. 26,
the calandria
tube shown partially inserted into a lattice site;
[0075] FIG. 29 is a perspective view of the insertion tool set of FIG. 28,
the calandria
tube shown partially inserted into the lattice site;
[0076] FIG. 30 is a perspective view of the receiving tool set of FIG. 27,
a calandria
tube guide tool of the receiving tool set shown inserted into a lattice site;
[0077] FIG. 31 is a perspective view of the insertion tool set of FIG. 29,
a driving shaft
of the calandria tube insertion tool shown aligned with the calandria tube;
[0078] FIG. 32 is a perspective view of the insertion tool set of FIG. 31,
a driving head
of the driving shaft shown engaged with the calandria tube;
[0079] FIG. 33 is a perspective view of the clamp of the insertion tool set
of FIG. 31,
the clamp shown in an open position;
[0080] FIG. 34 is a perspective view of the insertion tool set of FIG. 32,
the driving
shaft shown in an advanced position;
[0081] FIG. 35 is a perspective view of the insertion tool set of FIG. 34,
the calandria
tube shown inserted into a first tube sheet;
[0082] FIG. 36 is a perspective view of the receiving tool set of FIG. 30,
the calandria
tube shown inserted into a second tube sheet;
[0083] FIG. 37 is a perspective view of the receiving tool set of FIG. 36;
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Date Recue/Date Received 2022-02-23
[0084] FIG. 38 is a perspective view of the receiving tool set of FIG. 37,
a rolled joint
guide sleeve shown partially inserted into the lattice site;
[0085] FIG. 39 is a perspective view of the receiving tool set of FIG. 38,
the rolled joint
guide sleeve shown retracted from the lattice site, a calandria tube insert
delivery tool
shown inserted into the rolled joint guide sleeve;
[0086] FIG. 40 is a perspective view of the receiving tool set of FIG. 39,
the robot
shown placing a calandria tube insert on the calandria tube insert delivery
tool;
[0087] FIG. 41 is a perspective view of the receiving tool set of FIG. 40,
the rolled joint
guide sleeve and the calandria tube insert delivery tool shown inserted in the
lattice site;
[0088] FIG. 42 is a perspective view of the receiving tool set of FIG. 41,
the robot
shown returning the calandria tube insert delivery tool;
[0089] FIG. 43 is a perspective view of the receiving tool set of FIG. 42,
an expander
of the receiving tool set is shown partially inserted into the rolled joint
guide sleeve;
[0090] FIG. 44 is a perspective view of the receiving tool set of FIG. 43,
the expander
is shown inserted into the lattice site;
[0091] FIG. 45 is a perspective view of the receiving tool set of FIG. 44;
[0092] FIG. 46 is a perspective view of the receiving tool set of FIG. 45,
the robot
shown gripping the bore gauge tool;
[0093] FIG. 47 is a perspective view of the receiving tool set of FIG. 46,
the robot
shown operating the bore gauge tool;
[0094] FIG. 48 is a perspective view of the receiving tool set of FIG. 47,
the robot
shown returning the bore gauge tool;
[0095] FIG. 49 is a perspective view of the receiving tool set of FIG. 48,
the robot
shown operating the swab tool;
[0096] FIG. 50 is a perspective view of the receiving tool set of FIG. 49,
the rolled joint
guide sleeve shown in a retracted position;
[0097] FIG. 51 is a perspective view of the receiving tool set of FIG. 50,
the leak test
tool shown aligned with the lattice site;
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Date Recue/Date Received 2022-02-23
[0098] FIG. 52 is a perspective view of the receiving tool set of FIG. 51,
the leak test
tool shown in an advanced position;
[0099] FIG. 53 is a perspective view of the receiving tool set of FIG. 52,
the robot
shown operating the swab tool;
[0100] FIG. 54 is a perspective view of the receiving tool set of FIG. 53,
the thumbtack
handling tool shown in an advanced position;
[0101] FIG. 55 is a perspective view of the receiving tool set of FIG. 54,
the thumbtack
handlining tool shown in a retracted position;
[0102] FIG. 56 is a perspective view of a tool cart for delivering
components to the
insertion tool set;
[0103] FIG. 57 is a perspective view of a tool cart for delivering
components to the
receiving tool set;
[0104] FIG. 58 is a schematic top view of a nuclear reactor core within a
nuclear
reactor vault, the tool cart of FIG. 56 and the tool cart of FIG. 57 shown in
the nuclear
reactor vault;
[0105] FIG. 59 is a cross-sectional view of a floating pin; and
[0106] FIG. 60 is a perspective view of a high-speed bridge.
[0107] The drawings included herewith are for illustrating various examples
of
articles, methods, and apparatuses of the teaching of the present
specification and are
not intended to limit the scope of what is taught in any way.
DESCRIPTION OF VARIOUS EMBODIMENTS
[0108] Various apparatuses will be described below to provide an example of
an
embodiment of each claimed invention. No embodiment described below limits any
claimed invention and any claimed invention may cover apparatuses that differ
from
those described below. The claimed inventions are not limited to apparatuses
having all
of the features of any one apparatus described below or to features common to
multiple
or all of the apparatuses described below. It is possible that an apparatus
described below
is not an embodiment of any claimed invention. Any invention disclosed in an
apparatus
described below that is not claimed in this document may be the subject matter
of
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Date Recue/Date Received 2022-02-23
another protective instrument, for example, a continuing patent application,
and the
applicants, inventors or owners do not intend to abandon, disclaim or dedicate
to the
public any such invention by its disclosure in this document.
[0109] The terms "including", "comprising", and variations thereof mean
"including
but not limited to", unless expressly specified otherwise. A listing of items
does not imply
that any or all of the items are mutually exclusive, unless expressly
specified otherwise.
The terms "a", "an", and "the" mean "one or more", unless expressly specified
otherwise.
[0110] As used herein and in the claims, two or more parts are said to be
"coupled",
"connected", "attached", "mounted" or "fastened" where the parts are joined or
operate
together either directly or indirectly (i.e., through one or more intermediate
parts), so
long as a link occurs. As used herein and in the claims, two or more parts are
said to be
"directly coupled", "directly connected", "directly attached", or "directly
fastened" where
the parts are connected in physical contact with each other. As used herein,
two or more
parts are said to be "rigidly coupled", "rigidly connected", "rigidly
attached", or "rigidly
fastened" where the parts are coupled so as to move as one while maintaining a
constant
orientation relative to each other. None of the terms "coupled", "connected",
"attached",
"mounted", and "fastened" distinguish the manner in which two or more parts
are joined
together.
[0111] Some elements herein may be identified by a part number, which is
composed
of a base number followed by an alphabetical or subscript-numerical suffix
(e.g., 112a, or
1121). Multiple elements herein may be identified by part numbers that share a
base
number in common and that differ by their suffixes (e.g., 1121, 1122, and
1123). All
elements with a common base number may be referred to collectively or
generically using
the base number without a suffix (e.g., 112).
[0112] It should be noted that terms of degree such as "substantially",
"about", and
"approximately" as used herein mean a reasonable amount of deviation of the
modified
term such that the end result is not significantly changed. These terms of
degree may also
be construed as including a deviation of the modified term, such as by 1%, 2%,
5% or 10%,
for example, if this deviation does not negate the meaning of the term it
modifies.
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Date Recue/Date Received 2022-02-23
[0113] It should also be noted that, as used herein, the wording "and/or"
is intended
to represent an inclusive-or. That is, "X and/or Y" is intended to mean X or Y
or both, for
example. As a further example, "X, Y, and/or Z" is intended to mean X or Y or
Z or any
combination thereof.
[0114] Furthermore, the recitation of numerical ranges by endpoints herein
includes
all numbers and fractions subsumed within that range (e.g., 1 to 5 includes 1,
1.5, 2, 2.75,
3, 3.90, 4, and 5). It is also to be understood that all numbers and fractions
thereof are
presumed to be modified by the term "about" which means a variation of up to a
certain
amount of the number to which reference is being made if the end result is not
significantly changed, such as 1%, 2%, 5%, or 10%, for example.
General Description of a Nuclear Reactor Core
[0115] Referring first to FIG. 1, shown therein is a perspective view of a
nuclear
reactor core 100. In the example illustrated, the nuclear reactor core 100 is
a CANDU-type
reactor. As illustrated, the nuclear reactor core 100 may include a calandria
102 which is
a generally cylindrical vessel that, when in use, contains a heavy-water
moderator. The
calandria 102 may include a shell 104 which extends longitudinally between a
first tube
sheet 106a and a second tube sheet 106b. In the example illustrated, the
nuclear reactor
core 100 also includes a first end shield 108a and a second end shield 108b.
As shown,
the first end shield 108a may be spaced longitudinally outward of the first
tube sheet
106a at a first end 110a of the nuclear reactor core 100. As shown, the second
end shield
108b may be spaced longitudinally outward of the second tube sheet 106b at a
second
end 110b of the nuclear reactor core 100.
[0116] Still referring to FIG. 1, each of the first tube sheet 106a, the
second tube sheet
106b, the first end shield 108a, and the second end shield 108b may include a
plurality of
lattice sites 112. Each lattice site of the plurality of lattice sites 112 is
for supporting a fuel
channel assembly 114. For example, a fuel channel assembly 114 may extend from
a
lattice site 112a2 in the first end shield 108a, through an aligned lattice
site 112a1 in the
first tube sheet 106a, through an aligned lattice site 112b1 in the second
tube sheet 106b,
and to an aligned lattice site 112b2 in the second end shield 108b (see, FIG.
2).
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Date Recue/Date Received 2022-02-23
[0117] FIG. 2 illustrates an example of a fuel channel assembly 114. As
shown, a fuel
channel assembly 114 may include a calandria tube 116. The calandria tube 116
extends
longitudinally between a first calandria tube end 118a and a second calandria
tube end
118b. In the example illustrated, the first calandria tube end 118a is
sealedly joined to the
first tube sheet 106a and the second calandria tube end 118b is sealedly
joined to the
second tube sheet 106b. Specifically, in the example illustrated, the first
calandria tube
end 118a is sealedly joined to the first tube sheet 106a by a rolled joint and
the second
calandria tube end 118b is sealedly joined to the second tube sheet 106b by a
rolled joint.
When in use, the calandria tube 116 forms a barrier between the heavy water
moderator
within the calandria 102 and a pressure tube 120 and fuel bundles 122 that may
be held
within the calandria tube 116.
[0118] In the example illustrated, the fuel channel assembly 114 also
includes
plurality of lattice tubes 124. As shown in FIG. 1, a first subset of the
plurality of lattice
tubes 124 may extend between the first tube sheet 106a and the first end
shield 108a. A
second subset of the plurality of lattice tubes 124 may extend between the
second tube
sheet 106b and the second end shield 108b (see, for example, FIG. 2). In the
example
illustrated, each lattice tube of the plurality of lattice tubes 124 is welded
to one of the
first tube sheet 106a and the second tube sheet 106b at a first lattice tube
end 126a and
is welded to one of the first end shield 108a and the second end shield 108b
at a second
lattice tube end 126b.
[0119] Due to the extreme conditions within the calandria 102 during
operation of
the nuclear reactor core 100, the calandria tubes 116 may degrade overtime.
Accordingly,
to avoid failure of the calandria tubes 116 within the calandria 102, the
calandria tubes
116 may be replaced after a predetermined time. For example, the calandria
tubes 116
may be replaced during a complete refurbishment of the nuclear reactor core
100.
Alternatively, a calandria tube 116 may be replaced following the detection of
a fault
within that calandria tube 116.
[0120] The following description outlines systems and methods for
installing
calandria tubes 116 within a nuclear reactor core 100. Although the discussion
that
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Date Recue/Date Received 2022-02-23
follows is in respect of a nuclear reactor core refurbishment, it is to be
understood that
the systems and methods described below may be implemented when constructing a
new
nuclear reactor core 100.
[0121] Further, although the discussion that follows is in respect of a
CANDU-type
nuclear reactor, it is to be understood that various systems and methods
described below
may be implemented on other types of nuclear reactors.
Calandria Tube Installation Tool Set
[0122] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a calandria tube
installation
tool set 150 may be operable to install a calandria tube 116 in a calandria
102 of a nuclear
reactor core 100.
[0123] The calandria tube installation tool set 150 may include an
insertion tool set
152, a receiving tool set 154, and an installation processor (not shown). The
insertion tool
set 152 may be operable about the first end 110a of the calandria 102.
Specifically, the
insertion tool set 152 may be operable about the first end shield 108a of the
calandria
102. The receiving tool set 154 may be operable about the second end 110b of
the
calandria 102. Specifically, the receiving tool set 154 may be operable about
the second
end shield 108b of the calandria 102. The insertion tool set 152 and the
receiving tool set
154 may be jointly operable to install the calandria tube 116 in the calandria
102 of the
nuclear reactor core 100.
[0124] The installation processor may control each of the insertion tool
set 152 and
the receiving tool set 154. Accordingly, the installation processor may be
operable to
facilitate calandria tube installation with no human interaction with tools
within a nuclear
reactor vault 128.
[0125] In some examples, the installation processor may include at least
one of a
SCADA panel, a server, vault network panels, a control equipment area panel,
and a RCC
network panel. In some examples, the installation processor may include at
least one of
Siemens Software, SCADA Application program, SCADA PLC Program, and Illuminate
program.
- 15 -
Date Recue/Date Received 2022-02-23
[0126] Referring to FIG. 3A, an example of an insertion tool set 152
operating on the
first tube sheet 106a of a nuclear reactor core 100 is illustrated. As shown,
the insertion
tool set 152 may be positioned longitudinally outward of the first end shield
108a of the
nuclear reactor core 100. In the example illustrated, the insertion tool set
152 is mounted
to a heavy work table 130a which is supported by a retube tooling platform
132a. In the
example illustrated, the retube tooling platform 132a is movable in the y-
direction (i.e.,
the vertical direction) and the heavy work table 130a is movable in the x-
direction (i.e.,
the horizontal direction) along the retube tooling platform 132a. Accordingly,
the
insertion tool set 152 may be movable about the first tube sheet 106a of the
nuclear
reactor core 100 in the x and y directions. Specifically, the insertion tool
set 152 may be
positionable such that each tool of the insertion tool set 152 may be
alignable with each
lattice site 112 of the first tube sheet 106a.
[0127] Referring now to FIG. 3B, an example of a receiving tool set 154
operating on
the second tube sheet 106b of the nuclear reactor core 100 is illustrated. As
shown, the
receiving tool set 154 may be positioned longitudinally outward of the second
end shield
108b of the nuclear reactor core 100. In the example illustrated, similar to
the insertion
tool set 152, the receiving tool set 154 is mounted to a heavy work table 130b
which is
supported by a retube tooling platform 132b. In the example illustrated, the
retube
tooling platform 132b is movable in the y-direction (i.e., the vertical
direction) and the
heavy work table 130a is movable in the x-direction (i.e., the horizontal
direction) along
the retube tooling platform 132b. Accordingly, the receiving tool set 154 may
be movable
about the second tube sheet 106b of the nuclear reactor core 100 in the x and
y
directions. Specifically, the receiving tool set 154 may be positionable such
that each tool
of the receiving tool set 154 may be alignable with each lattice site 112 of
the second tube
sheet 106b.
[0128] Each of the heavy work table 130 and the retube tooling platform 132
may be
existing components of the nuclear reactor being refurbished. As is described
in more
detail below, modifications may be made to the existing heavy work tables 130
and/or
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Date Recue/Date Received 2022-02-23
the retube tooling platforms 132 to allow for finer adjustment of the
insertion tool set
152 and/or the receiving tool set 154.
[0129] In
other examples, the insertion tool set 152 and/or the receiving tool set 154
may be movable about the respective first tube sheet 106a and the second tube
sheet
106b by a system(s) other than the heavy work table 130 and the retube tooling
platform
132. For example, a high-speed bridge 142 may be used. Specifically, the
retube tooling
platform 132 may be substituted with a high-speed bridge 142. FIG. 60
illustrates an
example of a high-speed bridge 142.
[0130] The
installation processor may be operable to control the movement of the
retube tooling platform 132 and the heavy work table 130. A plurality of
sensors and/or
cameras may be used to collect and transmit data to the installation processor
regarding
the positions of the retube tooling platform 132 and/or the heavy work table
130.
[0131]
Referring now to FIG. 4, shown therein is the insertion tool set 152 of FIG.
3A
mounted to the heavy work table 130a which is supported by the retube tooling
platform
132a. Also illustrated in FIG. 4 is the receiving tool set 154 of FIG. 3B
mounted to the heavy
work table 130b which is supported by the retube tooling platform 132b. In the
example
illustrated, between the insertion tool set 152 and the receiving tool set 154
is a calandria
tube 116, a first lattice tube 124a, and a second lattice tube 124b. The
calandria tube 116
shown in FIG. 4 illustrates where the calandria 102 and calandria tube 116
would be
located relative to the insertion tool set 152 and the receiving tool set 154
after installing
the calandria tube 116 into the calandria 102 of the nuclear reactor core 100
(the
calandria 102 is not shown for illustrative purposes).
[0132] Still
referring to FIG. 4, a robotic tool carrier 134a, 134b may be mounted to
each of the retube tooling platforms 132a, 132b. As is described in more
detail below, the
robotic tool carrier 134 may operate in parallel with the calandria tube
installation tool
set 150 when installing calandria tubes 116 in the calandria 102. The
installation processor
may be operable to control the robotic tool carrier 134.
General Description of an Insertion Tool Set
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Date Recue/Date Received 2022-02-23
[0133] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, an insertion tool
set 152 may
be operable to install the calandria tube 116 in the lattice site 112a1 of the
first tube sheet
106a. The installation processor may be operable to control the insertion tool
set 152.
[0134] The insertion tool set 152 includes at least one tool that is
operable during the
installation of the calandria tube 116 in the calandria 102 of the nuclear
reactor core 100.
Specifically, the insertion tool set 152 may be operable to insert the
calandria tube 116
into the lattice site 112a1 of the first tube sheet 106a. An example of an
insertion tool set
152 is illustrated in FIG. 5.
[0135] In the example illustrated in FIG. 5, the insertion tool set 152
includes (a) a
calandria tube insertion tool 160; (b) a thumbtack handling tool 164a; (c) a
leak test tool
166a; (d) a sealing tool 168a; (e) a calandria tube insert delivery tool 170a;
(f) a swab tool
172a; (g) a bore gauge tool 174a; and (h) an insertion tool set robot 176a. In
other
examples, the insertion tool set 152 may include additional tools which are
not listed in
(a) through (h) above. In some examples, the insertion tool set 152 may
include only one
or a subset of the tools listed in (a) through (h) above. In some examples,
the insertion
tool set 152 may include multiples of the tools listed above, for example, the
insertion
tool set 152 may include more than one insertion tool set robots 176a.
[0136] At least one tool of the insertion tool set 152 may be moveable
relative to the
first tube sheet 106a in the longitudinal direction (i.e., in the z-direction,
towards and
away from the first tube sheet 106a). Movement of tools of the insertion tool
set 152 in
the longitudinal direction may allow for those tools to be inserted into or
abut a lattice
site 112 of the first tube sheet 106a and/or the first end shield 108a. Any
means known
in the art for moving a tool in the longitudinal direction may be used. In the
example of
the insertion tool set 152 illustrated in FIG. 5, each of tools (a) through
(h) listed above
are movable in the longitudinal direction.
[0137] In some examples, a slide table 190 having at least one slide rail
192 may be
used to move each tool of the insertion tool set 152 in the longitudinal
direction (an
example of a slide table 190 is described in more detail below). In other
examples, the
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Date Recue/Date Received 2022-02-23
insertion tool set robot 176a may be used to move each tool of the insertion
tool set 152
in the longitudinal direction.
[0138] In the example illustrated in FIG. 5, a slide table 190 and an
insertion tool set
robot 176a are each operable to move tools of the insertion tool set 152 in
the
longitudinal direction. Specifically, in the example illustrated, the
calandria tube insertion
tool 160, the thumbtack handling tool 164a, the leak test tool 166a, and the
sealing tool
168a are each mounted to a slide rail 192 of the slide table 190. In the
example illustrated,
the calandria tube insert delivery tool 170a, the swab tool 172a, and the bore
gauge tool
174a are movable in the longitudinal direction by the insertion tool set robot
176a. In the
example illustrated, the insertion tool set robot 176a is mounted to a slide
rail 192 of the
slide table 190.
[0139] In some examples, the insertion tool set 152 may be configured such
that a
first tool of the insertion tool set 152 is operable on a first lattice site
while a second tool
of the insertion tool set 152 is operable on a second lattice site. That is,
at least two tools
of the insertion tool set 152 may operate on at least two separate lattice
sites at least
partially at the same time. For example, the following process may occur in
the follow
order (a) the first tool may start its operation; (b) the second tool may
start its operation;
(c) the first tool may stop its operation; and (d) the second tool may stop
its operation. As
a second example, the following process may occur in the follow order (a) the
first tool
may start its operation; (b) the second tool may start its operation; (c) the
second tool
may stop its operation; and (d) the first tool may stop its operation. In the
second
example, it may be said that the operation of the second tool completely
overlaps with
the operation of the first tool. It may be desirable to perform multiple
operations on the
calandria 102 at least partially at the same time as this may reduce the
amount of time
required to perform a calandria tube insertion project.
[0140] In some embodiments, the insertion tool set 152 may be configured
such that
the sealing tool 168a is operable on a first lattice site while the leak test
tool 166a is
operable on a second lattice site. In some examples, the first and second
lattice sites may
not be directly adjacent to each other. In some examples there may be at least
two lattice
- 19 -
Date Recue/Date Received 2022-02-23
sites between the first lattice site being operated on by the sealing tool
168a and the
second lattice site being operated on by the leak test tool 166a.
[0141] In a CAN DU-type reactor, the centers of adjacent lattice sites may
be spaced
11.25 inches apart. Accordingly, in some examples of the insertion tool set
152, the
sealing tool 168a may be spaced 33.75 inches from the leak test tool 166a.
[0142] The installation processor may be operable to control movement of
each tool
of the insertion tool set.
General Description of a Receiving Tool Set
[0143] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a receiving tool
set 154 may
be operable to help guide a calandria tube 116 through the calandria 102
during
installation of the calandria tube 116 in the calandria 102. The receiving
tool set 154 may
be operable to install the calandria tube 116 in the lattice site 112b1 of the
second tube
sheet 106b. The installation processor may be operable to control the
receiving tool set
154.
[0144] The receiving tool set 154 includes at least one tool that is
operable during the
installation of a calandria tube 116 in the nuclear reactor core 100.
Specifically, the
receiving tool set 154 may be operable to guide a calandria tube 116 inserted
into a lattice
site 112a1 in the first tube sheet 106a by the insertion tool set 152 to a
lattice site 112b1
in the second tube sheet 106b. It may be necessary to guide the calandria tube
116 to the
lattice site 112b1 in the second tube sheet 106b as the calandria tube 116 may
bend
under its own cantilevered weight within the calandria 102. If the calandria
tube 116 is
allowed to bend within the calandria 102 when being inserted into the
calandria 102 by
the insertion tool set 152, (a) the calandria tube 116 may be damaged during
installation;
and (b) the calandria tube 116 may not properly align with the corresponding
lattice site
in the second tube sheet 106b during the insertion process. An example of a
receiving
tool set 154 is illustrated in FIG. 6.
[0145] In the example illustrated in FIG. 6, the receiving tool set 154
includes (a) a
calandria tube guide tool 162; (b) a thumbtack handling tool 164b; (c) a leak
test tool
- 20 -
Date Recue/Date Received 2022-02-23
166b; (d) a sealing tool 168b; (e) a calandria tube insert delivery tool 170b;
(f) a swab tool
172b; (g) a bore gauge tool 174b; and (h) a receiving tool set robot 176b. In
other
examples, the receiving tool set 154 may include additional tools which are
not listed in
(a) through (h) above. Further, in some examples, the receiving tool set 154
may only
include one or a subset of the tools listed in (a) through (h) above. In some
examples, the
receiving tool set 154 may include multiples of the tools listed above, for
example, the
receiving tool set 154 may include more than one receiving tool set robots
176b.
[0146] At least one tool of the receiving tool set 154 may be moveable
relative to the
second tube sheet 106b in the longitudinal direction (i.e., in the z-
direction, towards and
away from the second tube sheet 106b). Movement of tools of the receiving tool
set 154
in the longitudinal direction may allow for those tools to be inserted into or
abut a lattice
site of the second tube sheet 106b and/or the second end shield 108b. Any
means known
in the art for moving a tool in the longitudinal direction may be used. In the
example of
the receiving tool set 154 illustrated in FIG. 6, each of tools (a) through
(h) listed above
are movable in the longitudinal direction.
[0147] In some examples, a slide table 190 having at least one slide rail
192 may be
used to move each tool of the receiving tool set 154 in the longitudinal
direction. In other
examples, receiving tool set robot 176b may be used to move each tool of the
receiving
tool set 154 in the longitudinal direction. In the example illustrated in FIG.
6, a slide table
190 and a receiving tool set robot 176b are each operable to move tools of the
receiving
tool set 154 in the longitudinal direction. Specifically, in the example
illustrated, the
calandria tube guide tool 162, the thumbtack handling tool 164b, the leak test
tool 166b,
and the sealing tool 168b are each mounted to a slide rail 192 of the slide
table 190. In
the example illustrated, the calandria tube insert delivery tool 170b, the
swab tool 172b,
and the bore gauge tool 174b are movable by the receiving tool set robot 176b.
In the
example illustrated, the receiving tool set robot 176b is mounted to a slide
rail 192 of the
slide table 190.
[0148] The installation processor may be operable to control movement of
each tool
of the receiving tool set 154.
- 21 -
Date Recue/Date Received 2022-02-23
General Description of a Slide Table
[0149] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a slide table 190
may be
operable to reposition tools of the insertion tool set 152 and/or the
receiving tool set 154
during installation of a calandria tube 116. Specifically, as described above,
a slide table
190 may be operable to move tools of the insertion tool set 152 and/or the
receiving tool
set 154 in a longitudinal direction relative to the first and second tube
sheets 106a, 106b.
That is, the calandria tube installation tool set 150 may include two slide
tables 190; a first
slide table 190a associated with the insertion tool set and a second slide
table 190b
associated with the receiving tool set 154. Any slide table 190 known in the
art may be
used to reposition tools of the insertion tool set 152 and/or the receiving
tool set 154.
The installation processor may be operable to control the slide table 190. An
example of
a slide table 190 is shown in FIGS. 7A to 7C.
[0150] In the example illustrated in FIG. 7A, the slide table 190 includes
a frame 194
for supporting one or more slide rails 192 of the slide table 190. In the
example illustrated,
the slide table includes five slide rails 192. The five slide rails 192 of the
slide table 190
illustrated in FIG. 7A are positioned in parallel to each other.
[0151] The slide table 190 may include slide platforms 196 that are mounted
to the
slide rails 192. The slide platforms 196 may be moveable along the slide rails
192. Tools
of the insertion tool set 152 and/or the receiving tool set 154 may be mounted
to the
slide platforms 196.
[0152] Any means known in the art for moving the slide platforms 196 along
the slide
rails 192 may be used. For example, the slide platforms 196 may be connected
to a
rotatable chain drivable by a motor. Rotation of the chain may drive the slide
platform
196 forward and backward along the slide rail 192. As a second example, the
slide
platforms 196 may have wheels rotatable by a motor and the wheels may drive
along the
slide rails 192. As a third example, the slide platforms 196 may be
hydraulically driven.
[0153] In the example illustrated in FIG. 7A, each slide rail 192 includes
a gear rack
198 and each slide platform 196 includes a pinion gear (not shown) rotatable
by a motor
- 22 -
Date Recue/Date Received 2022-02-23
202. In the example illustrated, rotation of the pinion gear drives a slide
platform 196
connected to the pinion gear along the gear rack 198 of a slide rail 192.
[0154] The motor 202 used to drive movement of the slide platforms 196 may
be any
motor known in the art. The motors 202 may be located at any position with
respect to
the slide platforms 196. In the example illustrated in FIG. 6, the motors 202b
for
controlling movement of the slide platforms 196b on the second slide rail 192b
are
mounted outside of the frame 194 of the slide table 190. In the example
illustrated, the
motors 202 for controlling movement of the slide platform 196c on the third
slide rail
192c are located under the slide platforms 196c (not shown). In the example
illustrated,
the motors 202d, 202e for controlling movement of the slide platforms 196d,
196e on the
fourth and fifth slide rails 192d, 192e are mounted vertically (i.e., are
positioned above
the slide platforms 196d, 196e).
[0155] As illustrated in FIG. 7A, more than one slide platform 196 may be
mounted to
a single slide rail 192. It may be desirable to mount multiple slide platforms
196 to a single
slide rail 192 as tools of the insertion tool set 152 and/or the receiving
tool set 154 may
have multiple, independently operable, components.
[0156] The slide table 190 may include integrated supply cables, air
conduits, and
signal cables to serve the slide motors 202 and/or the tools to be mounted to
the slide
platforms 196. Other components required for the operation of the slide table
190, for
example control panels 204, and components required for operation of the tools
to be
mounted to the slide table, for example a vacuum pump 206 for the leak test
tool 166,
may be mounted to the frame 194 of the slide table 190.
[0157] Referring now to FIGS. 8A and 8B, in the example illustrated, a
robot 176 (i.e.,
an insertion tool set robot 176a or a receiving tool set robot 176b) is shown
mounted to
the first slide rail 192a.
[0158] In some examples, the slide rails 192 of the slide table 190 may be
located 12
to 14 inches apart. In some examples, the slide table 190 may be approximately
56 inches
wide (i.e., along the x-axis) and 290 inch long (i.e., in the z-axis).
General Description of a Robot
- 23 -
Date Recue/Date Received 2022-02-23
[0159] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, the insertion tool
set 152
and/or the receiving tool set 154 may include a robot 176. The robot 176 of
the insertion
tool set 152 and the robot 176 of the receiving tool set 154 may be identical.
The robot(s)
176 may be operable to manipulate tools of the insertion tool set 152 and/or
the receiving
tool set 154. Any robot 176 known in the art may be used to manipulate tools
of the
insertion tool set 152 and/or the receiving tool set 154. The installation
processor may be
operable to control the robot 176. In some examples, the robot 176 of the
insertion tool
set and/or the receiving tool set may be a six-axis robot.
[0160] An example of an insertion tool set robot 176a is shown in FIG. 5.
An example
of a receiving tool set robot 176b is shown in FIG. 6. In the examples
illustrated in FIGS. 5
and 6, the receiving tool set robot 176a and the insertion tool set robot 176b
are each a
Fanuc M-20iA/35M robot 210.
[0161] A second example of an insertion tool set robot 176a is shown in
FIGS 9A to
9D. In the example illustrated, the insertion tool set robot 176a is a tool
manipulator robot
218. In the example illustrated, the tool manipulator robot 218 includes a
base 220, a first
arm 222 extending between a first arm first end 224a and a first arm second
end 224b.
As shown, the first arm first end 224a may be mounted to the base 220. In the
example
illustrated, the tool manipulator robot 218 includes a second arm 228
extending between
a second arm first end 230a and a second arm second end 230b. As shown, the
second
arm first end 230a may be mounted to the first arm second end 224b. In some
examples,
the base 220 of the insertion tool set robot 176a illustrated in FIG. 9A may
be mounted
to a slide platform 196 of the slide table 190.
[0162] Referring now to FIG. 9C, the tool manipulator robot 218 may include
a first
motor 232a for controlling the position of the first arm 222 relative to the
base 220. The
tool manipulator robot 218 may include a second motor 232b for controlling the
position
of the second arm 228 relative to the first arm 222.
[0163] Still referring to FIG. 9C, the tool manipulator robot 218 may
include a robot
drive head 234 for connecting the insertion tool set robot 176a to a tool. In
the example
- 24 -
Date Recue/Date Received 2022-02-23
illustrated, the robot drive head 234 is rotatable by a third motor 232c. The
robot drive
head 234 may be operable to control tools of the insertion tool set 152 and/or
the
receiving tool set 154.
[0164] The installation processor may be operable to control the insertion
tool set
robot 176a and/or the receiving tool set robot 176b. Specifically, the
installation
processor may be operable to control the Fanuc M-20iA/35M robot 210.
Specifically, the
installation processor may be operable to control the tool manipulator robot
218.
General Description of a Swab Tool
[0165] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, there is a swab
tool 172 which
may be operable to swab the inner bore of at least one of the calandria tube
116, the
tube sheet lattice site 112a1, 112b1, the lattice tube 124, the end shield
lattice site 112b1,
112b2, and a calandria tube insert 240. Any swab tool 172 known in the art may
be used.
The installation processor may be operable to control the swab tool 172.
[0166] Each of the insertion tool set 152 and the receiving tool set 154
may include a
swab tool 172. An example of a swab tool 172 is shown in FIGS. 10A and 1013.
[0167] Referring to FIG. 5, in the example illustrated, the insertion tool
set 152
includes a first swab tool 172a. As shown, the first swab tool 172a may be
stored in an
insertion tool set tool holder 242a when not in use. The insertion tool set
tool holder 242a
may be mounted to the frame 194a of the insertion tool set slide table 190a.
In the
example illustrated, the first swab tool 172a is operable by the insertion
tool set robot
176a. In other examples, the first swab tool 172a may be mounted to a slide
rail 192 of
the insertion tool set slide table 190a.
[0168] In the example illustrated in FIG. 6, the receiving tool set 154
includes a second
swab tool 172b. As shown, the second swab tool 172b may be stored in a
receiving tool
set tool holder 242b when not in use. The receiving tool set tool holder 242b
may be
mounted to the frame 194b of the receiving tool set slide table 190b. In the
example
illustrated, the second swab tool 172b is operable by the receiving tool set
robot 176b. In
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Date Recue/Date Received 2022-02-23
other examples, the second swab tool 172b may be mounted to a slide rail 192
of the
receiving tool set slide table 190b.
[0169] In the example of the swab tool 172 illustrated in FIGS. 10A and
10B, the swab
tool 172 extends longitudinally between a first end 244 and a second end 246.
As shown,
the first end 244 of the swab tool 172 may be gripped by the robot 176 (see,
for example,
FIG. 22). In the example illustrated, the swab tool 172 also includes a
central pull rod 248
and a bung 250.1n some examples, the bung 250 may be made of polyurethane.
[0170] When the swab tool 172 illustrated in FIG. 10A is gripped by the
robot 176, the
robot 176 may be operable to actuate the central pull rod 248 to expand the
bung 250. It
may be desirable to expand the bung 250, as the bung 250, in an expanded
state, may be
able to hold an object, such as for example a swab 252. That is, when the bung
250 is in
the contracted state (as shown in FIG. 10B), the bung 250 may be insertable
into a bore
of the swab 252. With the bung 250 of the swab tool 172 inserted into the bore
of the
swab 252, the central pull rod 248 may be actuated, locking the swab 252 to
the bung
250. Similarly, to dispose of the swab 252 after use, the central pull rod 248
may be
released, which may allow the bung 250 to return to its natural compressed
state,
allowing for the swab 252 to be removed from the bung 250.
[0171] In some examples, the swab 252 used to swab the tube sheet 106a,
106b, the
calandria tube insert 240, and at least a portion of calandria tube 116 are
the same. In
some examples, the swab 252 used to swab at least one of the tube sheets 106a,
106b,
the calandria tube insert 240, and the at least a portion of the calandria
tube 116 are
different. For example, the outer diameter of the swab 252 may vary.
General Description of a Calandria Tube Insert Delivery Tool
[0172] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, there is a
calandria tube insert
delivery tool 170 which may be operable to provide a calandria tube insert 240
to the
calandria tube 116 after the calandria tube 116 has been inserted into the
lattice site
112a1 of the first tube sheet 106a and the lattice site 112b1 of the second
tube sheet
106b. Any calandria tube insert delivery tool 170 known in the art may be
used. The
- 26 -
Date Recue/Date Received 2022-02-23
installation processor may be operable to control the calandria tube insert
delivery tool
170.
[0173] Each of the insertion tool set 152 and the receiving tool set 154
may include a
calandria tube insert delivery tool 170.
[0174] In the example illustrated in FIG. 5, the insertion tool set 152
includes a first
calandria tube insert delivery tool 170a. Specifically, the first calandria
tube insert delivery
tool 170a of the insertion tool set 152 in the example illustrated is a
calandria tube insert
delivery rod 178a. As shown, the calandria tube insert delivery rod 178a may
be stored in
the insertion tool set tool holder 242a when not in use. In the example
illustrated, the
calandria tube insert delivery rod 178a is operable by the insertion tool set
robot 176a. In
other examples, the calandria tube insert delivery rod 178a may be mounted to
a slide
platform 196 of the insertion tool set slide table 190a.
[0175] In the example illustrated in FIG. 6, the receiving tool set 154
includes a second
calandria tube insert delivery tool 170b. Specifically, the second calandria
tube insert
delivery tool 170a of the receiving tool set 154 in the example illustrated is
a calandria
tube insert delivery rod 178b. As shown, the calandria tube insert delivery
rod 178b may
be stored in a receiving tool set tool holder 242b when not in use. In the
example
illustrated, the calandria tube insert delivery rod 178b is operable by the
receiving tool
set robot 176b. In other examples, the calandria tube insert delivery rod 178b
may be
mounted to a slide platform 196 of the receiving tool set slide table 190b.
[0176] An example of a calandria tube insert delivery rod 178 is
illustrated in FIGS.
11A and 11B. In the example illustrated, the calandria tube insert delivery
rod 178 extends
longitudinally between a first end 260 and a second end 262. The first end 260
of the
calandria tube insert delivery rod 178 may be gripped by the robot 176. In the
example
illustrated, the calandria tube insert delivery rod 178 includes a central
pull rod 264 and
a bung 266. In some examples, the bung 266 may be made of polyurethane.
[0177] Similar to the swab tool 172 describe above, when the calandria tube
insert
delivery rod 178 is gripped by the robot 176, the robot 176 may be operable to
actuate
the central pull rod 264 to expand the bung 266.
- 27 -
Date Recue/Date Received 2022-02-23
[0178] Referring now to FIG. 11C, a second example of a calandria tube
insert delivery
tool 170 is illustrated. In the example illustrated, the calandria tube insert
delivery tool
170 is a calandria tube insert delivery ring 180. In the example illustrated,
the calandria
tube insert delivery ring 180 has a ring-shaped body 184 extending along a
calandria tube
insert delivery tool axis 186. The calandria tube insert delivery ring 180
shown also
includes a grip 188 extending from the body 184 generally along the calandria
tube insert
delivery tool axis 186. The grip 188 is for gripping a calandria tube insert
240.
[0179] In the example illustrated in FIG. 11C, the grip 188 of the
calandria tube insert
delivery ring 180 includes a plurality of fingers 182 which may grip a
calandria tube insert
240, as shown. The robot 176 may be operable to provide a calandria tube
insert 240 to
the calandria tube insert delivery ring 180.
[0180] As shown, the calandria tube insert delivery ring 180 may be mounted
to the
sealing tool 168. Specifically, in the example illustrated, the calandria tube
insert delivery
ring 180 is mounted to the rolled joint guide sleeve 350 of the sealing tool
168 (described
in more detail below).
[0181] After rolling the calandria tube insert 240 in place, the fingers
182 may release
the calandria tube insert 240 as the rolled joint guide sleeve 350 is
retracted from the
lattice site.
General Description of a Bore Gauge Tool
[0182] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, there is a bore
gauge tool 174
which may be operable to measure at least one of a calandria tube insert 240
inner bore
dimension, a tube sheet 106a, 106b inner bore dimension, and a flange
extrusion. Any
bore gauge tool 174 known in the art may be used. The installation processor
may be
operable to control the bore gauge tool 174.
[0183] In some examples, the bore gauge tool 174 uses pneumatically
actuated gauge
rods to make measurements. In some examples, the bore gauge tool 174 is in
communication with the installation processor to provide measurements to the
installation processor.
- 28 -
Date Recue/Date Received 2022-02-23
[0184] Each of the insertion tool set 152 and the receiving tool set 154
may include a
bore gauge tool 174. In the example illustrated in FIG. 5, the insertion tool
set 152 includes
a first bore gauge tool 174a. As shown, the first bore gauge tool 174a may be
stored in
the insertion tool set tool holder 242a when not in use. In the example
illustrated, the
first bore gauge tool 174a is operable by the insertion tool set robot 176a.
In other
examples, the first bore gauge tool 174a may be mounted to a slide platform
196 of the
insertion tool set slide table 190a.
[0185] In the example illustrated in FIG. 6, the receiving tool set 154
includes a second
bore gauge tool 174b. As shown, the second bore gauge tool 174b may be stored
in the
receiving tool set tool holder 242b when not in use. In the example
illustrated, the second
bore gauge tool 174b is operable by the receiving tool set robot 176b. In
other examples,
the second bore gauge tool 174b may be mounted to a slide platform 196 of the
receiving
tool set slide table 190b.
[0186] An example of a bore gauge tool 174 is illustrated in FIGS. 12A and
12B. In the
example illustrated, the bore gauge tool 174 extends longitudinally between a
first end
270 and a second end 272. The first end 270 of the bore gauge tool 174 may be
gripped
by the robot 176. In the example illustrated, the bore gauge tool 174 includes
a housing
274 at the second end 272. The bore gauge tool 174 illustrated may also
include a push
rod 276 and at least one gauge rod 278 mounted to the push rod 276 for making
measurements. When the bore gauge tool 174 is gripped by the robot 176, the
robot 176
may be operable to extend the push rod 276, expelling the at least one gauge
rod 278
from the housing 274. When the push rod 276 is extended, and the at least one
gauge
rods 278 are expelled from the housing 274, the at least one gauge rods 278
may be
operable to make measurements of the bore size and flange extrusion.
[0187] It may be desirable to house the at least one gauge rod 278 within
the housing
274 when not in use, as the housing 274 may protect the at least one gauge
rods 278 from
being damaged.
General Description of a Calandria Tube Insertion Tool
- 29 -
Date Recue/Date Received 2022-02-23
[0188] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a calandria tube
insertion tool
160 may be operable to insert the calandria tube 116 into the lattice site
112a1 of the
first tube sheet 106a. Any calandria tube insertion tool 160 known in the art
may be used.
The installation processor may be operable to control the calandria tube
insertion tool
160.
[0189] An example of a calandria tube insertion tool 160 is illustrated in
FIG. 13. In
the example illustrated, the calandria tube insertion tool 160 includes a
clamp 300 for
holding a calandria tube 116. In use, it may be desirable for the clamp 300 to
hold the
calandria tube 116 at a longitudinally central region 302 of the calandria
tube 116. When
the calandria tube 116 is held in the longitudinally central region 302, the
calandria tube
116 may be less likely to bend under its own cantilevered weight.
[0190] The clamp 300 may be translatable in the longitudinal direction.
Translating
the clamp 300 in the longitudinal direction may allow for the calandria tube
116 held by
the clamp 300 to be at least partially inserted into a lattice site 112a1 of
the first tube
sheet 106a. Any means known in the art for translating the clamp 300 may be
used. In
some examples, the clamp 300 is mounted to a slide platform 196 of the slide
table 190a.
[0191] Still referring to FIG. 13, in the example illustrated, the clamp
300 is mounted
to a trolley 304. The trolley 304 may be moveable between a first trolley
position (see, for
example, FIG. 13) and a second trolley position (see, for example, FIG. 29)
along a trolley
axis 306. The trolley axis 306 may be parallel to a longitudinal calandria
tube axis 308
when the calandria tube 116 is held by the clamp 300 (see, for example, FIG.
29). Any
means known in the art for moving the trolley 304 between the first trolley
position and
the second trolley position may be used. In the example illustrated, the
trolley 304 is
mounted to a slide platform 196 of the slide table 190a.
[0192] In the example illustrated, the calandria tube insertion tool 160
includes a
driving shaft 310. The driving shaft 310 may have a driving head 312 for
engaging an end
of the calandria tube 116. The driving head 312 may be moveable between a
first driving
head position (see, for example, FIG. 13) and a second driving head position
(see, for
- 30 -
Date Recue/Date Received 2022-02-23
example, FIG. 35) along a driving head path. The driving head 312 may be
moveable
between the first driving head position and the second driving head position
so that the
driving head 312 does not interfere with the calandria tube 116 when the
calandria tube
116 is being received by the clamp (i.e., when in the first position) but is
moveable to urge
the calandria tube 116 into the lattice site 112a1 of the first tube sheet
106a (i.e., when
moving to the second position).
[0193] In some examples, the driving head 312 and the trolley 304 are
independently
moveable.
[0194] Referring back to FIG. 13, in in the example illustrated, when the
driving head
312 is in the first driving head position the driving head 312 is not aligned
with the
longitudinal calandria tube axis 308 when the calandria tube 116 is held by
the clamp 300.
That is, in the example illustrated, when the driving head 312 is in the first
driving head
position, the driving head 312 is below the clamp 300 for holding the
calandria tube 116
to be installed in the calandria 102 of the nuclear reactor core 100. In some
examples,
when the driving head 312 is in the first driving head position, the driving
head may be
beside the clamp 300 for holding the calandria tube. Allowing for the driving
head 312 to
be repositionable, as described above, may allow for the insertion tool set
slide table 190
to be smaller. That is, if the driving head 312 were only movable
longitudinally along the
longitudinal calandria tube axis 308 when the calandria tube 116 is held by
the clamp 300,
the longitudinal displacement of the driving head 312 may have be to greater
so that the
driving head 312 does not interfere with the calandria tube 116 when the
calandria tube
116 is being mounted to the clamp 300.
[0195] In some examples, when the driving head 312 is in the first driving
head
position, the driving head 312 may be aligned with the longitudinal calandria
tube axis
308 when the calandria tube 116 is held by the clamp. In this example, the
driving shaft
310 may be telescoping.
[0196] As stated above, when the driving head 312 is in the first driving
head position,
the driving head 312 does not interfere with the calandria tube 116 when the
calandria
tube 116 is being received by the clamp 300.
- 31 -
Date Recue/Date Received 2022-02-23
[0197] Referring now to FIG. 35, in the example illustrated, when the
driving head 312
is in the second driving head position the driving head 312 is aligned with
the longitudinal
calandria tube axis 308 when the calandria tube 116 is held by the clamp 300.
When the
driving head 312 is aligned with the longitudinal calandria tube axis 308, the
driving head
312 can be moved to abut the calandria tube 116 and urge the calandria tube
116 into
the lattice site 112a1 of the first tube sheet 106a.
[0198] In the example illustrated, the position of the driving head 312 is
controlled by
the driving shaft 310. In the example illustrated the driving shaft 310 is
translatable in a
vertical direction by a driving shaft lift 318. As shown, the driving shaft
lift 318 may keep
the driving shaft 310 horizontal during vertical translation of the driving
shaft 310. That
is, a longitudinal driving shaft axis 320 may be parallel to the longitudinal
calandria tube
axis 308 when the calandria tube 116 is held by the clamp 300 when the driving
head 312
is in the first driving head position.
[0199] In other examples, the driving shaft lift 318 may rotate the driving
shaft 310
from a horizontal position to a downwardly extending position. In the
downwardly
extending position, the driving head 312 of the driving shaft 310 may be
positionable
below the clamp 300.
[0200] Referring now to FIGS. 14A and 14B, the trolley 304 of the calandria
tube
insertion tool 160 may include a first roller 322. As illustrated, the first
roller 322 may
have a first roller axis 324 perpendicular to the longitudinal calandria tube
axis 308 when
the calandria tube 116 is held by the clamp 300. As show in FIG. 14A, the
first roller 322
may support the calandria tube 116. Specifically, the first roller 322 may
support the
calandria tube 116 when the calandria tube 116 is not gripped by the clamp
300.
[0201] Still referring to FIG. 14A, the trolley may also include a second
roller 326. As
shown, the second roller 326 may have a second roller axis 328 perpendicular
to the
longitudinal calandria tube axis 308 when the calandria tube 116 is held by
the clamp 300.
As shown in FIG. 14B, the second roller 326 may support the driving shaft 310
of the
calandria tube insertion tool 160.
- 32 -
Date Recue/Date Received 2022-02-23
[0202] As illustrated in FIGS. 14A and 14B, the first roller 322 may have a
first roller
first position (see, for example, FIG. 14A) and a first roller second position
(see, for
example, FIG. 14B). The second roller 326 may have a second roller first
position (see, for
example, FIG. 14A) and a second roller second position (see, for example, FIG.
14B).
[0203] As illustrated in FIGS. 14A and 14B the first roller axis 324 may be
vertically
higher than the second roller axis 328 when the first roller 322 is in the
first roller first
position, and the second roller axis 328 may vertically higher than the first
roller axis 324
when the first roller 322 is in the first roller second position.
[0204] It may be desirable for the first and second rollers 322, 326 to
have first and
second positions as described above as the calandria tube 116 to be installed
in the
calandria 102 of the nuclear reactor core 100 may have a calandria tube outer
diameter
330 that is less than a driving shaft outer diameter 332. Accordingly, even
though the
calandria tube 116 and the driving shaft 310 may have different outer
diameters 330, 332,
by providing first and second rollers 322, 326 as described above the driving
shaft 310
and the calandria tube 116 can remain aligned with the center of the lattice
site 112
during the installation process.
[0205] In some examples, the driving shaft 310 and the calandria tube 116
may have
the same outer diameter 330, 332 and the trolley 304 may only include a single
roller.
[0206] In some examples, the clamp 300, the first roller 322, and the
second roller
326 may be attached to a gimbal 334 and the gimbal 334 may be attached to the
trolley
304. The gimbal 334 may be configured to position the first and second rollers
322, 326
in their respective first and second positions. In some examples, each of the
clamp 300,
the first roller 322, and the second roller 326 may be attached to individual
gimbles.
[0207] In some examples the gimbal 334 may be configurable to float. That
is, the
gimbal 334 may be able to move in the vertical direction in response to slight
movements
of the calandria tube 116 and/or the driving shaft 310 during insertion of the
calandria
tube 116 into the calandria 102. When the gimbal 334 is configured to float,
the stress on
the calandria tube 116, where is contacts the first roller 322, may be
minimized when
inserting the calandria tube 116 into the calandria 102.
- 33 -
Date Recue/Date Received 2022-02-23
[0208] In some examples, the installation processor is operable to set the
position of
the first and second rollers 322, 326.
General Description of a Thumbtack Handling Tool
[0209] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a thumbtack
handling tool 164
may be operable to remove a thumbtack shield plug 340 from a lattice site 112.
Any
thumbtack handling tool 164 known in the art may be used. The installation
processor
may be operable to control the thumbtack handling tool 164.
[0210] Each of the insertion tool set 152 and the receiving tool set 154
may include a
thumbtack handling tool 164. In the example illustrated in FIG. 5, the
insertion tool set
152 includes a first thumbtack handling tool 164a mounted to the slide table
190a of the
insertion tool set 152. In the example illustrated in FIG. 6, the receiving
tool set 154
includes a second thumbtack handling tool 164b mounted to the slide table 190b
of the
receiving tool set 154.
General Description of a Sealing Tool
[0211] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a sealing tool 168
may be
operable to form a leak tight seal between the calandria tube 116 and the
first tube sheet
106 and/or the second tube sheet 108. Any sealing tool 168 known in the art
may be used.
The installation processor may be operable to control the sealing tool 168.
[0212] Each of the insertion tool set 152 and the receiving tool set 154
may include a
sealing tool 168. In the example illustrated in FIG. 5, the insertion tool set
152 includes a
first sealing tool 168a mounted to the slide table 190a of the insertion tool
set 152. In the
example illustrated in FIG. 6, the receiving tool set 154 includes a second
sealing tool 168b
mounted to the slide table 190b of the receiving tool set 154.
[0213] In the examples illustrated in FIGS. 5 and 6, the sealing tools
168a, 168b are
identical.
- 34 -
Date Recue/Date Received 2022-02-23
[0214] Referring now to FIG. 15, an example of a sealing tool 168 is
illustrated. In the
example illustrated, the sealing tool 168 includes a rolled joint guide sleeve
350 and an
expander 352. The rolled joint guide sleeve 350 may preload the calandria tube
insert 240
during nip up. The expander 352 may be insertable into the rolled joint guide
sleeve 350
for forming a rolled joint between the calandria tube 116 and the tube sheet
106a, 106b.
[0215] In the example illustrated in FIG. 15, each of the rolled joint
guide sleeve 350
and the expander 352 are mounted to individual slide platforms 196 of the
receiving tool
set slide table 190b. Accordingly, each of the rolled joint guide sleeve 350
and the
expander 352 may be independently moveable in the longitudinal direction.
[0216] Still referring to FIG. 15, in the example illustrated, the expander
352 may
include a mandrel 354 and a motor 356 for driving rotation of the mandrel 354.
The
mandrel 354 and the motor 356 may be mounted to the same slide platform 196.
The
installation processor may be operable to control the motor 356 and therefore
control
rotation of the mandrel 354.
[0217] Still referring to FIG. 15, in the example illustrated, the sealing
tool 168
includes a collapsible support 358. The collapsible support 358 may be
translatable from
a first support position to a second support position. In the first support
position, as
illustrated in FIG. 15, the collapsible support 358 may support the mandrel
354. In the
second support position, the collapsible support 358 may release the mandrel
354
allowing for movement of the mandrel 354.
[0218] In some examples, the expander 352 associated with the insertion
tool set 152
and/or the receiving tool set 154 may be replaced after installing at least
one calandria
tube 116 in the calandria 102.1n some examples, the expander 352 may be
replaced after
installing forty eight calandria tubes 116 in the calandria 102.1n some
examples, replacing
the expander 352 may include replacing the expander 352 with a serviced
expander 352.
[0219] In some examples, the expander 352 may be inspected after each
rolling
operation. The installation processor may be operable to inspect the expander
352. In
some examples, the robot may be operable to control an inspection tool (not
shown) to
inspect the expander 352. In some examples, the inspection tool may include
cameras. In
- 35 -
Date Recue/Date Received 2022-02-23
some examples, the inspection tool may include a wheel to turn expander
rollers of the
expander 352.
[0220] In some examples, the expander 352 may be lubricated after each
rolling
operation. The installation processor may be operable to lubricate the
expander.
General Description of a Leak Test Tool
[0221] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a leak test tool
166 may be
operable to inspect the rolled joint between the calandria tube 116 and the
tube sheet
106a, 106b. Any leak test tool 166 known in the art may be used. The
installation
processor may be operable to control the leak test tool 166.
[0222] Each of the insertion tool set 152 and the receiving tool set 154
may include a
leak test tool 166. In the example illustrated in FIG. 5, the insertion tool
set 152 includes
a first leak test tool 166a mounted to the slide table 190a of the insertion
tool set 152. In
the example illustrated in FIG. 6, the receiving tool set 154 includes a
second leak test tool
166b mounted to the slide table 190b of the receiving tool set 154.
General Description of Installing a Calandria Tube
[0223] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, there is a method
of installing
a calandria tube in a calandria of a nuclear reactor core with the calandria
tube installation
tool set 150 comprising the installation processor. The method comprises
operating the
installation processor to control various tools of the insertion tool set 152
and/or the
receiving tool set 154 to perform a series of operations.
[0224] The description that follows outlines a plurality of operations that
may be
controlled by the installation processor. The method of installing a calandria
tube may
comprise all of the steps described below, or only a subset of the steps. In
some examples,
at least one of the steps described below may be performed more than once
during
refurbishments of a nuclear reactor core.
- 36 -
Date Recue/Date Received 2022-02-23
[0225] The method of installing a calandria tube may be performed in the
order
described below. Alternatively, the method of installing a calandria tube may
be
performed in an alternative order, unless a specific order is specified. For
example, in the
description below, the receiving tool set 154 is described as being
positionable by the
installation processor in a starting configuration immediately following the
operation of
the installation processor to position the insertion tool set 152 in the
starting
configuration. Although this order of steps may be true, in some examples of
the method,
the receiving tool set 154 may not be positioned in the starting configuration
until after
the calandria tube 116 is partially inserted into the lattice site 112a1 of
the first tube sheet
106a by the insertion tool set 152.
[0226] Further, steps of the method of installing a calandria tube
described below
may be performed at least partially at the same time. For example, the
installation
processor may be operable to control tools of the insertion tool set 152 and
tools of the
receiving tool set 154 at the same time. As a second example, the installation
processor
may control a first tool of the insertion tool set 152 to operate on a first
lattice site and at
least partially at the same time control a second tool of the insertion tool
set 152 to
operate on a second lattice site.
[0227] The steps of the method of installing a calandria tube are described
below with
reference to a calandria tube installation tool set 150 that includes an
insertion tool set
slide table 190a, a six-axis insertion tool set robot 176a, a receiving tool
set slide table
190b, and a six-axis receiving tool set robot 176b. However, it is to be
understood that
any means known in the art operable by the installation processor for
advancing and
retracting tools may be used. For example, tools described as being mounted to
the slide
table 190a, 190b may be controlled by the robot 176a, 176b in other examples.
Further,
tools described as being manipulated by the robot 176 may be mounted to a
slide
platform 196 of a slide table 190 in other examples.
[0228] Referring to FIG. 16, in the example illustrated, the installation
processor may
be operable to position the calandria tube installation tool set 150 in a
starting
configuration. In some exemplary methods, positioning the calandria tube
installation
- 37 -
Date Recue/Date Received 2022-02-23
tool set 150 in the starting configuration may include positioning the
insertion tool set
152 proximate the lattice site 112a1 in the first tube sheet 106a to receive
the calandria
tube 116. In some exemplary methods, positioning the calandria tube
installation tool set
150 in the starting configuration may include positioning the receiving tool
set 154
proximate the lattice site 112b1 in the second tube sheet 106b aligned with
the lattice
site 112a1 in the first tube sheet 106a.
[0229] To position the insertion tool set 152, the installation processor
may be
operable to control the position of the retube tooling platform 132a and the
heavy work
table 130a associated with the insertion tool set 152 (the retube tooling
platform 132a
and the heavy work table 130a are not illustrated in FIG. 16).
[0230] To position the receiving tool set 154, the installation processor
may be
operable to control the position of the retube tooling platform 132b and the
heavy work
table 130b associated with the receiving tool set 154 (the retube tooling
platform 132b
and the heavy work table 130b are not illustrated in FIG. 17).
[0231] The installation processor may be operable to control the position
of the
retube tooling platform 132a, 132b and the heavy work table 130a, 130b of each
of the
insertion tool set 152 and the receiving tool set 154 between the operation of
a first tool
and the operation of a second tool.
[0232] For example, the first tool used may be the thumbtack handling tool
164a of
the insertion tool set 152 which may be mounted to a slide platform 196 of a
fourth slide
rail 192d; the second tool used may be the calandria tube insertion tool 160
which may
be mounted to a slide platform 196 of a third slide rail 192c. Since the
fourth slide rail
192d and the third slide rail 192c are parallel, they cannot both be aligned
with the lattice
site 112 at the same time. Therefore, after operation of the thumbtack
handling tool
164a, the installation processor may be operable to reposition the insertion
tool set 152
by repositioning the heavy work table 130a and/or the retube tooling platform
132a such
that the calandria tube insertion tool 160 is aligned with the lattice site
112.
[0233] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to provide the calandria tube 116 to be
installed
- 38 -
Date Recue/Date Received 2022-02-23
in the calandria 102 to the insertion tool set 152. Providing the calandria
tube 116 to the
insertion tool set 152 may include positioning the insertion tool set 152 in a
calandria tube
receiving position. Providing the calandria tube 116 to the insertion tool set
152 may
include securing the calandria tube 116 to the insertion tool set 152.
[0234] Still referring to FIG. 16, in the example illustrated, the
installation processor
may be operable to position the calandria tube insertion tool 160 of the
insertion tool set
152 in a calandria tube receiving position. In the calandria tube receiving
position, the
calandria tube insertion tool 160 of the insertion tool set 152 is positioned
to receiving a
calandria tube 116. In some examples, to position the calandria tube insertion
tool 160 in
the receiving position, the installation processor may be operable to open the
clamp 300
of the calandria tube insertion tool 160.
[0235] In the example illustrated, to position the calandria tube insertion
tool 160 in
the receiving position, the installation processor is operable to position the
trolley 304 of
the calandria tube insertion tool 160 in the first trolley position. In the
example illustrated,
to position the calandria tube insertion tool 160 in the receiving position,
the installation
processor is operable to position the driving head 312 of the driving shaft
310 of the
calandria tube insertion tool 160 in the first driving head position. In the
example
illustrated, the driving head 312 of the driving shaft 310 is located below
the clamp 300.
Accordingly, in the example illustrated, the driving head 312 must be
positioned in the
first driving head position prior to positioning the trolley 304 in the first
trolley position.
[0236] Still referring to FIG. 16, in the example illustrated, the clamp
300 is shown in
the open position, the trolley 304 is shown in the first trolley position, and
the driving
head 312 is shown in the first driving head position.
[0237] Referring now to FIG. 17, the installation processor may be operable
to
position the receiving tool set 154 in a starting configuration. In the
example illustrated
in FIG. 17, the receiving tool set 154 is shown in the receiving tool set
starting position.
The installation processor may be operable to, at least partially at the same
time, position
the receiving tool set 154 in the starting configuration and position the
insertion tool set
152 in the starting configuration. Alternatively, the installation processor
may be operable
- 39 -
Date Recue/Date Received 2022-02-23
to positioning the receiving tool set 154 in the starting configuration before
or after
positioning the insertion tool set 152 in the starting configuration.
[0238] Referring now to FIG. 18, the installation processor may be operable
to control
the robotic tool carrier 134a to provide the calandria tube 116 to the
insertion tool set
152. Specifically, the installation processor may be operable to control the
robotic tool
carrier 134a to provide the calandria tube 116 to the calandria tube insertion
tool 160 of
the insertion tool set 152.
[0239] Controlling the robotic tool carrier 134a to provide the calandria
tube 116 to
the insertion tool set 152 may include the steps of (a) positioning a grip
136a of the robotic
tool carrier 134a about the calandria tube 116 to be installed in the
calandria 102; (b)
gripping the calandria tube 116 to be installed in the calandria 102; (c)
transporting the
calandria tube 116 to be installed in the calandria 102 to the insertion tool
set 152 (see,
for example, FIG. 18); and (d) releasing the calandria tube 116 to be
installed in the
calandria 102 after the calandria tube 116 has been received by the calandria
tube
insertion tool 160 (see, for example, FIG. 19).
[0240] Referring now to FIG. 20, the installation processor may be operable
to control
the clamp 300 to grip the calandria tube 116. In the example illustrated in
FIG. 20, the
clamp 300 is shown in the clamped position. That is, in the example
illustrated in FIG. 20,
the calandria tube 116 is received by the calandria tube insertion tool 160.
[0241] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the thumbtack handling tool
164.
[0242] Still referring to FIG. 20, in the example illustrated, the
installation processor
is operable to advance the thumbtack handling tool 164a of the insertion tool
set 152. To
advance the thumbtack handling tool 164a, the installation processor may be
operable to
control the slide table 190a. Specifically, the installation processor may be
operable to
control the slide platform 196 to which the thumbtack handling tool 164a may
be
mounted to.
[0243] Referring now to FIG. 21, the installation processor may be operable
to
remove the thumbtack shield plug 340a by controlling the thumbtack handling
tool 164a.
- 40 -
Date Recue/Date Received 2022-02-23
Removing the thumbtack shield plug 340a may include the steps of (a) operating
the
thumbtack handling tool 164a to grip the thumbtack shield plug 340; and (b)
operating
the slide table 190a to retract the thumbtack handling tool 164a and the
gripped
thumbtack shield plug 340a.
[0244] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to reposition the insertion tool set
152.
[0245] Referring now to FIG. 22, in the example illustrated, the
installation processor
is operable to reposition the insertion tool set 152 such that the insertion
tool set robot
176a is aligned with the lattice site 112.
[0246] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the swab tool 172.
[0247] Still referring to FIG. 22, in the example illustrated, the
installation processor
is operable to signal the installation tool set robot 176a to grip the swab
tool 172a. In the
example illustrated, the swab tool 172a is stored in the insertion tool set
tool holder 242a.
[0248] Referring now to FIG. 23, in the example illustrated, the
installation processor
is operable to signal the installation tool set robot 176a to load a new swab
252 on the
second end 246 of the swab tool 172a. To load the swab 252 on the second end
246 of
the swab tool 172a, the robot 176a may position the second end 246 of the swab
tool
172a in the bore of the swab 252. The installation processor may be operable
to then
signal the installation tool set robot 176a to actuate the central pull rod
248 of the swab
tool 172a to lock the swab 252 onto the bung 250 of the swab tool 172a.
[0249] Referring now to FIG. 24, in the example illustrated, the
installation processor
is operable to signal the installation tool set robot 176a to swab the first
tube sheet 106a
(specifically the lattice site 112a1 of the first tube sheet 106a). To swab
the first tube
sheet 106a, the installation tool set robot 176a may insert the swab tool 172a
into the
lattice site 112a1 of the first tube sheet 106a.
[0250] Referring now to FIG. 25, in the example illustrated, the
installation processor
is operable to signal the installation tool set robot 176a to dispose of the
swab 252. To
dispose of the swab 252, the insertion tool set robot 176a may (a) position
the swab 252
- 41 -
Date Recue/Date Received 2022-02-23
in a disposal location; and (b) release the central pull rod 248 releasing the
swab 252 from
the bung 250 of the swab tool 172a.
[0251] Referring now to FIG. 26, in the example illustrated, the
installation processor
is operable to signal the insertion tool robot 176a to return the swab tool
172a to the
insertion tool set tool holder 242.
[0252] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the thumbtack handing tool
164b of the
receiving tool set 154 to remove the thumbtack shield plug 340b of the second
end shield
108b. The process for removing the thumbtack shield plug 340b of the second
end shield
108b may be similar to the process for removing the thumbtack shield plug 340a
of the
first end shield 108a described above.
[0253] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the swab tool 172b of the
receiving tool
set 154. The process for swabbing the lattice site 112b1 of the second tube
sheet 106b
may be similar to the process for swabbing the lattice site 112a1 of the first
tube sheet
106a described above. An example of the receiving tool set robot 176b swabbing
the
lattice site 112b1 of the second tube sheet 106b is shown in FIG. 27.
[0254] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the calandria tube
installation tool set
150 to insert the calandria tube 116 into the calandria 102 of the nuclear
reactor core
100.
[0255] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the insertion tool set 152
to insert the
calandria tube 116 into the first tube sheet 106a.
[0256] Referring now to FIG. 28, in the example illustrated, the
installation processor
is operable to advance the calandria tube 116 into the lattice site 112a2 of
the first end
shield 108b. In the example illustrated in FIG. 28, the calandria tube 116 is
inserted into
the lattice site 112a2 such that the second end 118b of the calandria tube 116
is shy of
the first tube sheet 106a. In the example illustrated, to advance the
calandria tube 116
- 42 -
Date Recue/Date Received 2022-02-23
into the lattice site 112a2, the installation processor is operable to signal
the slide table
190a to advance the slide platform 196 on which the clamp 300 is mounted.
[0257] Referring now to FIG. 29, in the example illustrated, the
installation processor
is operable to advance the calandria tube 116 into the first tube sheet 106a.
In the
example illustrated, to insert the calandria tube 116 into the first tube
sheet 106a, the
installation processor is operable to signal the slide table 190a to advance
the slide
platform 196 on which the clamp 300 is mounted.
[0258] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the receiving tool set 154
to guide the
calandria tube to the second tube sheet 106b.
[0259] Referring now to FIG. 30, in the example illustrated, the
installation processor
is operable to advance the calandria tube guide tool 162 of the receiving tool
set 154 into
the lattice site 112b1 of the second tube sheet 106b aligned with the lattice
site 112a1 of
the first tube sheet 106a.
[0260] Referring now to FIG. 31, in the example illustrated, the
installation processor
is operable to align the driving head 312 of the driving shaft 310 with the
longitudinal
calandria tube axis 308. In the example illustrated, the installation
processor is operable
to control the driving shaft lift 318 to translate the driving shaft 310 from
a position not
aligned with the longitudinal calandria tube axis 308 to a position aligned
with the
longitudinal calandria tube axis 308 (as shown in FIG. 31).
[0261] Referring now to FIG. 32, in the example illustrated, the
installation processor
is operable to advance the driving head 312 such that the driving head 312
engages a first
end 118a of the calandria tube. In the example illustrated, the driving head
312 is tapered
and may be inserted into the bore of the calandria tube 116 when engaged with
the first
end 118a of the calandria tube 116. In the example illustrated, to advance the
driving
head 312, the installation processor is operable to control the slide platform
196 to which
the driving head 312 is mounted.
- 43 -
Date Recue/Date Received 2022-02-23
[0262] Referring now to FIG. 33, in the example illustrated, the
installation processor
is operable to open the clamp 300. In the example illustrated, when the clamp
300 is
opened, the calandria tube 116 is supported on the first roller 322 of the
trolley 304.
[0263] Referring now to FIG. 34, in the example illustrated, the
installation processor
is operable to advance the calandria tube 116 into the calandria 102 such that
the second
end 118b of the calandria tube 116 is within the lattice site 112b1 of the
second tube
sheet 106b aligned with the lattice site 112a1 of the first tube sheet 106a.
In the example
illustrated, to advance the calandria tube 116 into the calandria 102, the
installation
processor is operable to signal the slide table 190a to advance the slide
platform 196
supporting the driving head 312.
[0264] In some examples, the outer diameter 332 of the driving shaft 310
may be
larger than the outer diameter 330 of the calandria tube 116. Accordingly,
fully advancing
the calandria tube 116 into the calandria 102 may include the installation
processor
signaling the first roller 322 to move from the first roller first position to
the first roller
second position and signaling the second roller 326 to move from the second
roller first
position to the second roller second position (see, for example, FIGS. 14A and
14B). In the
example illustrated, the installation processor is operable to signal the
gimbal 334 to
reposition the first roller 322 and the second roller 326.
[0265] Referring now to FIGS. 35 and 36, in the examples illustrated the
calandria
tube 116 is shown fully inserted into the calandria 102.
[0266] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to retract the calandria tube guide
tool 162.
[0267] Referring now to FIG. 37, in the example illustrated, the
installation processor
is operable to retract the calandria tube guide tool 162. In the example
illustrated,
retracting the calandria tube guide tool 162 includes the installation
processor signaling
the receiving tool set slide table 190b to retract the slide platform 196 that
the calandria
tube guide tool 162 is mounted to.
[0268] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the sealing tool 168.
- 44 -
Date Recue/Date Received 2022-02-23
[0269] Referring now to FIG. 38, in the example illustrated, the
installation processor
is operable to advance the rolled joint guide sleeve 350b of the receiving
tool set 154 at
least partially into the lattice site 112b2 of the second end shield 108b. In
the example
illustrated, to advance the rolled joint guide sleeve 350b of the receiving
tool set 154 the
installation processor is operable to control the slide platform 196 on which
the rolled
joint guide sleeve 350b is mounted to.
[0270] Referring now to FIG. 39, in the example illustrated, the
installation processor
is operable to control the receiving tool set robot 176b to grip calandria
tube insert
delivery rod 178b. In the example illustrated, the installation processor is
operable to
control the receiving tool set robot 176b to align the rolled joint guide
sleeve 350b with
the lattice site 112b2 of the second end shield 108b. In the example
illustrated, the
installation processor is operable to retract the rolled joint guide sleeve
350b of the
receiving tool set 154. As shown, the rolled joint guide sleeve 350b may be
retracted so
that the second end 262 of the calandria tube insert delivery rod 178b extends
outwardly
from the rolled joint guide sleeve 350b.
[0271] It may be desirable to first partially insert the rolled joint guide
sleeve 350b
into the lattice site 112b2 so that the calandria tube insert delivery rod
178b may be
positionable longitudinally outboard of the rolled joint guide sleeve 350b.
That is, if the
rolled joint guide sleeve 350b is not first inserted into the lattice site
112b2, the calandria
tube insert delivery rod 178b must be movable in a greater extent in the
rearward
longitudinal direction. Accordingly, by first inserting the rolled joint guide
sleeve 350b into
the lattice site 112b2, the slide table 190b may be shorter in the
longitudinal direction
than if the rolled joint guide sleeve 350b were not first inserted into the
lattice site 112b2.
[0272] In some examples, the rolled joint guide sleeve 350b may not be at
least
partially inserted into the lattice site 112b2 prior to inserting the
calandria tube insert
delivery rod 178b in the rolled joint guide sleeve 350b.
[0273] Referring now to FIG. 40, in the example illustrated, the
installation processor
is operable to control the receiving tool set robot 176 to place a calandria
tube insert 240
on the second end 262 of the calandria tube insert delivery rod 178b. In the
example
- 45 -
Date Recue/Date Received 2022-02-23
illustrated, the installation processer is operable to control the receiving
tool set robot
176b to retrieve a calandria tube insert 240. In the example illustrated, the
calandria tube
insert 240 is stored on a calandria tube insert post 370 mounted to the slide
table 190b
(see, for example, FIG. 37).
[0274] Referring now to FIG. 41, in the example illustrated the
installation processor
is operable to control the receiving tool set robot 176b and rolled joint
guide sleeve 350b
to insert the calandria tube insert 240 into the lattice site 112b1 of the
second tube sheet
106b. In the example illustrated, the installation processor is operable to
control the
receiving tool set robot 176b to apply a stall force on the calandria tube
insert 240.
[0275] Referring now to FIG. 42, in the example illustrated, the
installation processor
is operable to control the receiving tool set robot 176b to release the
calandria tube insert
240. In the example illustrated, the installation processor is operable to
retract the
calandria tube insert delivery rod 178b from the lattice site 112b1 of the
second tube
sheet 106b. In the example illustrated, the installation processor is operable
to return the
calandria tube insert delivery rod 178b to the receiving tool set tool holder
242b.
[0276] Alternatively, in some examples, the calandria tube insert delivery
tool 170b
is a calandria tube insert delivery ring 180b. In this example, the receiving
tool set robot
176b may be operable to provide a calandria tube insert 240 to the calandria
tube insert
delivery ring 180b. The calandria tube insert delivery ring 180b may be
located on the
rolled joint guide sleeve. Accordingly, the receiving tool set robot 176b may
be operable
to provide a calandria tube insert 240 to the calandria tube insert delivery
ring 180b prior
to inserting the rolled joint guide sleeve 350 into the lattice site 112b1 of
the second tube
sheet 106b.
[0277] Referring now to FIG. 43, in the example illustrated, the
installation processor
is operable to advance the expander 352b into the rolled joint guide sleeve
350b. In the
example illustrated, to advance the expander 352b, the installation processor
is operable
to advance the slide platform 196 to which the expander 352b is mounted to.
[0278] Referring now to FIG. 44, in the example illustrated, the
installation processor
is operable to transition the collapsible support 358b from the first support
position (see,
- 46 -
Date Recue/Date Received 2022-02-23
for example, FIG. 43) to the second support position (see, for example, FIG.
44). In the
example illustrated, the installation processor is operable to advance the
expander 352b
into the lattice site 112b1. In the example illustrated, to advance the
expander 352b, the
installation processor is operable to advance the slide platform 196 to which
the expander
352b is mounted to.
[0279] Referring now to FIG. 45, in the example illustrated, the
installation processor
is operable control the expander 352b to form a roll joint between the second
end 118b
of the calandria tube 116 and the second tube sheet 106b. In some examples,
when
forming a roll joint between the second end 118b of the calandria tube 116 and
the
second tube sheet 106b, a preload is applied to the calandria tube 116 by the
rolled joint
guide sleeve 350a of the insertion tool set 152. After forming the rolled
joint, the
installation processor may be operable to retract the expander 352b from the
lattice site
112b1. In the example illustrated, to retract the expander 352b, the
installation processor
is operable to control the slide platform 196 of the slide table 190b to which
the expander
352b is mounted to.
[0280] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the bore gauge tool 174.
[0281] Referring now to FIG. 46, in the example illustrated, the
installation processor
is operable to control the receiving tool set robot 176b to grip the bore
gauge tool 174b.
In the example illustrated, the bore gauge tool 174b is stored in the
receiving tool set tool
holder 242b.
[0282] Referring now to FIG. 47, in the example illustrated, the
installation processor
is operable insert the bore gauge tool 174b in the lattice site 112b1 of the
second tube
sheet 106b. The installation processor may be operable to control the bore
gauge tool
174b to make measurements of the inner bore diameter of the calandria tube
insert 240.
[0283] Referring now to FIG. 48, in the example illustrated, the
installation processor
is operable to return the bore gauge tool 174b to the receiving tool set tool
holder 242b.
- 47 -
Date Recue/Date Received 2022-02-23
[0284] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the swab tool 172 to swab
the calandria
tube insert 240.
[0285] Referring now to FIG. 49, in the example illustrated, the
installation processor
is operable to control the receiving tool set robot 176b to (a) retrieve the
swab tool 172b;
(b) load a swab 252 to the second end 246 of the swab tool 172b; (c) insert
the swab tool
172b into the lattice site 112b1 of the second tube sheet 106b; (d) swab the
calandria
tube insert 240; (e) retract the swab tool 172b from the lattice site 112b1 of
the second
tube sheet 106b; (f) dispose of the swab 252; and (g) return the swab tool
172b to the
receiving tool set tool holder 242b.
[0286] Referring now to FIG. 50, in the example illustrated, the
installation processor
is operable to retract the rolled joint guide sleeve 350b from the lattice
site 112b1 of the
second tube sheet 106b. In the example illustrated, to retract the rolled
joint guide sleeve
350b, the installation processor is operable to control the slide platform 196
of the slide
table 190b to which the rolled joint guide sleeve 350b is mounted to.
[0287] In some examples, a calandria tube insert delivery ring 180 may be
attached
to the rolled joint guide sleeve 350b. Accordingly, when retracting the rolled
joint guide
sleeve 350b, the calandria tube insert delivery ring 180 may release the
calandria tube
insert 240.
[0288] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the insertion tool set 152
to control the
calandria tube insert delivery tool 170a and the sealing tool 168a of the
insertion tool set
152 similar to how the installation processor may be operable to control the
receiving
tool set 154 to control the calandria tube insert delivery tool 170b and the
sealing tool
168b of the receiving tool set 154.
[0289] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the insertion tool set 152
to control the
bore gauge tool 174a of the insertion tool set 152 similar to how the
installation processor
- 48 -
Date Recue/Date Received 2022-02-23
may be operable to control the receiving tool set 154 to control the bore
gauge tool 174b
of the receiving tool set 154.
[0290] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the leak test tool 166.
[0291] Referring now to FIG. 51, in the example illustrated, the
installation processor
is operable to align the leak test tool 166b of the receiving tool set 154
with the lattice
site 112b1 of the second tube sheet 106b. To align the leak test tool 166 of
the receiving
tool set 154 with the lattice site 112b1 of the second tube sheet 106b the
installation
processor may be operable to control the position of the heavy work table 130b
and/or
the retube tooling platform 132b.
[0292] Referring now to FIG. 52, in the example illustrated, the
installation processor
is operable to advance the leak test tool 166b into the lattice site 112b1 of
the second
tube sheet 106b. In the example illustrated, the installation processor is
operable to
control the leak test tool 166b to perform a leak test.
[0293] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the insertion tool set 152
to control the
leak test tool 166a of the insertion tool set 152 similar to how the
installation processor
may be operable to control the receiving tool set 154 to control the leak test
tool 166b of
the receiving tool set 154.
[0294] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the swab tool 172 to swab
the calandria
tube insert 240 and at least a portion of the calandria tube 116 following a
leak test.
[0295] Referring now to FIG. 53, in the example illustrated, the
installation processor
is operable to control the receiving tool set robot 176b to (a) retrieve the
swab tool 172b;
(b) load a swab 252 to the second end 246 of the swab tool 172b; (c) insert
the swab tool
172b into the lattice site 112b1 of the second tube sheet 106b; (d) swab the
calandria
tube insert 240; (e) swab at least a portion of the calandria tube 116 (f)
retract the swab
tool 172b from the lattice site 112b1 of the second tube sheet 106b; (g)
dispose of the
swab 252; and (h) return the swab tool 172b to the receiving tool set tool
holder 242b.
- 49 -
Date Recue/Date Received 2022-02-23
[0296] It may be desirable to position the receiving tool set 154 so that
the thumbtack
handling tool 164b is not aligned with the lattice site 112b1 of the second
tube sheet 106b
when swabbing the second tube sheet 106b so that the thumbtack handling tool
164b
may not be exposed to high levels of radiation.
[0297] In the method of installing a calandria tube in a nuclear reactor
core, the
installation processor may be operable to control the thumbtack handling tool
164 to
install the thumbtack shield plug 340 in the lattice site 112a2, 112b2 of the
end shield
108a, 108b.
[0298] Referring now to FIG. 54, in the example illustrated, the
installation processor
is operable to advance the thumbtack handling tool 164b and the gripped
thumbtack
shield plug 340b. In the example illustrated, to advance the thumbtack
handling tool 164b
and the gripped thumbtack shield plug 340b the installation processor is
operable
advance the slide platform 196 to which the thumbtack handing tool 164b is
mounted to.
In the example illustrated, the installation processor is operable to control
the thumbtack
handling tool 164b to release the thumbtack shield plug 340b within the
lattice site
112b2.
[0299] Referring now to FIG. 55, in the example illustrated, the
installation processor
is operable to retract the thumbtack handling tool 164b. In the example
illustrated, to
retract the thumbtack handling tool 164b, the installation processor is
operable to control
the slide platform 196 to which the thumbtack handling tool 164b is mounted
to.
[0300] As stated above, steps of the method of installing a calandria tube
may be
performed at least partially at the same time. As an example, the installation
processor
may be operable to control the sealing tool 168a and the leak test tool 166a
of the
insertion tool set 152 at least partially at the same time.
[0301] Specifically, in this example, the sealing tool 168a may perform
rolling on a
first lattice site while the leak test tool 166a is performing leak testing on
a second lattice
site. It is to be understood that to perform leak testing on a lattice site, a
calandria tube
116 was previously at least partially installed therein according to the steps
discussed
above. Performing leak testing on a second lattice site while at least
partially at the same
- 50 -
Date Recue/Date Received 2022-02-23
time performing rolling on a first lattice site may reduce the amount of time
it takes to
complete a calandria tube installation project.
[0302] To perform leaking testing and rolling at least partially at the
same time, the
thumbtack shield plug 340 of the first lattice site and the thumbtack shield
plug 340 of
the second lattice site must each be removed. To remove two thumbtack shield
plugs
340, (a) the thumbtack handling tool 164a may be operable to remove a first
thumbtack
shield plug 340; (b) the insertion tool set robot 156a may be operable to
transfer that
thumbtack shield plug 340 to a thumbtack shield plug storage rack (not shown);
and (c)
the thumbtack handling tool 164a may be operable to remove a second thumbtack
shield
plug 340.
[0303] In some examples, the second lattice site, when looking at the face
of a first
end of a calandria 102, may be three lattice sites to the right of the first
lattice site (that
is, there may be two lattice sites between the first lattice site and the
second lattice site).
Accordingly, in this example, rolling and leak testing at least partially at
the same time
cannot occur on the three left most lattice sites in each row of lattice
sites.
[0304] When performing a rolling operation, the sealing tool 168a may exert
large
forces on the retube tooling platform 132a and the heavy work table 130a.
These forces
may cause the retube tooling platform 132a and the heavy work table 130a to
move
slightly during the rolling process. Accordingly, the leak test tool 166a may
be mounted
to the slide table 190a such that the movements of the heavy work table 130a
and the
retube tooling platform 132a do not affect the leak testing process.
[0305] In the description of the method of installing a calandria tube in a
nuclear
reactor core above, step performed by the insertion tool set 152 on the first
tube sheet
106a and/or the first end shield 108a may be performed by the receiving tool
set 154 on
the second tube sheet 106b and/or second end shield 108b in a similar manner,
and vice
versa.
[0306] The following chart provides a summary of steps that may be
performed
during the installation of a calandria tube 116 in a calandria 102. The
following chart also
provides an estimate of how long each step may take. It is to be understood
that the chart
- 51 -
Date Recue/Date Received 2022-02-23
below outlines an example method with estimated times. In other examples, the
steps
performed, and the amount of time required to perform each steps may differ.
Putootood 0 tnstalladon kooltdde Recoup side
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g
et
s 4
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1 Relo, IOW to On, toll 0 3 x . U3 . 503 index
11,01[0AI/ft roll
t pas, or 661 ley on tentre of Ulde table '
a a " a 1 0 607 A 4' move
thurobtadt shold plug
3 pick up awlth RTC and position over Paltry 02 SCO index HVOTtotobol
PRI
4 plata a onto trolley or& RIC 2 X X X , X 05 PM deltvet
stab tool 1 oartote
S close tlarro,vott RTC loonts . a 03 SOS snob TS bore
6 ttiouNg rturnbItcx sT 10 x a 505 deposol stent sob,
pok new soda and 6.6.to swab .6µ.1 "4 pluton bale
7 lodes PVC to robot roll 02 X . OS SW index X
ValotTgolde toolhdl
,
8 del oe=swee tool to i5 boo 0.5 20 508 *dame CT
rode tool onto WWII sie , .
9 94011 TS nue* 03 x a 309 14411 la west
. ,
. .
depos a awes% swab, pox rew swab, ind velum swebtool to Amon hole -
11 inch.* to (.."1 I merion tco.1 N NI 1 03 . . ,
12 allOoginlbal /of Oat ovi totance trollop to Pont 44 slide table 05 ,
13 raise CT Insertion tad old loagtobal OS . . ,
14 advgneg CT insertion tool intoCT 05 .
13 Ramrod bungsttoguca 03 . . ,
16 OPRn 69111difthOnt0 -
17 adverse CT onolloadog bell toshes front toilet 05 .
18 pkotairnhal to crop front 22112r not f Mt` oat teller 03 '
. .
19 Insert C i 11.132 tro vo== 05 . = . .
check CT P.RoT Cl 2 01 310 dtedt CT rothlon
1
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a OS . 511 retrac 1171.gt.lOr=lool
. = 2 . 512 205= Cr exuarder stop nut
02 . 513 Index OValoexpardet tad
. .
03 514
delme,C71.141044epod ..to rocs
IC , 212 lott1C11 ontoend of CTI telt/try...I
01 ..,11, otter/COI del., tool Wool Cll toll to 0.1135
OS SIT altar. OAS Into
lattke Ute
01 . 518 stell101 on 15 woth RJG3, at 503 IL
519 loosen CT1dolite Tit lool thongs ars1 ,rdat 'a, etetr RICS
01 . 520 pup UM 11121251
. 321 insert CU delivery tool Into olgroe hole
. = . .
as 522 *dome towbar in06
lot:1m so.
21 ,..t. r 11,1, e. 13 tobtre 01 X 01 5221 wool
lo. esti bloody 02,tne
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01 525 nele.re 5 lb
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,
11 . WI nrresare I Large eatrusicr.12111S1
= =
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x IS 5,1 Or] no= = bore
taut., to 42-CII
=
2 01 UM roots.or=CTI
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x . 05 523 retort CII bole
tate to ugeon hole
'
x . OS , SO 212=112,
uottrool to CTI
2 U3 533 stab 211
2 õ OS , UR return tomb.
rml to 'Apron hole
u 5 535 mtractIlLIG5
5221241112221 = rewire tide [moll to po l IlIlIllIllIll
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x US 536 Inde211W1 to Ott
leA tool
" a OS 532 r :Manz led. test 1 oel onl o lath. 2dt
" . X SO 538 leak lost
a 05 539 rebottled tea
tool
. = a 03 910 lodes ¶VatoOTRT rail
x a 10 PI delve," swab tad
1 oCT1
. = a a OS SA swab C11
x , , x 10 SO return
3.31,441 14141Pon 9444
. = * 10 SP Install Ihurobtadt3/0
4 cc
11=4*111111111y1,1,1,111111111.11111,1111111111111111111111.,,,,,,, II,
I ,1111111p1,1,1111111,..1111111111
7 retrtelCi trxetion tool 2
23 04.1.1 C1 22322122=21, n..t 2
11111111111111111111111111,I111111111
1 OS
. . ..
24 index PIWT to...ultra., roll 02
n delve.' CU telrrery tool 121u 11163 09 a a ,
26 loot en .,.to rnd of Cil orl Nr22 tool 10 2
1111111111,,11111111111""""'==========õõõõõ,
27 tetractfil et toe, tool so od l C11 PIM tp MOS 01
28 advert 4 RR, Imo 14. tit.. sto OS a a
a stallal on 15 weln SR., a 511110 01
loose ACT & Ps, bol bbassana rats. t a eras 2ICS 01 2 . . =
31 gauge CTOTS CliNtS1 01 x a
32 insert CTI delivery 10,1 into woos oPo. a .
33 ad.,. exotoder NT :0 I elL ce sex 05
24 ,It 01 01 sts verily =12. CT
torl=ion
NO dd 20
Sty retort Sal lb load 2242.511ort A( '1 cm.,4/4 i4114.4 01 .
72 rot 20
32 22,2.ort= %snit. entnaboolfUGS) 01
30 lotto, expander to teeTtol slide tth1e OS
dehve," bum pup to Peal OS a
AI anteeare ClIAme144 Cl a
42 alum ClIboto gouge lo neon hole 05 a
43 deft., strab tool toC71 OS ,
01 004001 03 . a
'
46 ret., swab tool to otoon hole 0.5 . a
46 retract RIM OS
Létt
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4/ ir dr211Wi to 12222 teu tool 025 , a
49 tood222 look le0 lotri irto 1211, at OS a
. .
.1 leek Lest 50 . 2 . "
retract leak teOzoll Q5 a ,
51 ir dealt., to A1131 oil 02 a . . ,
Si de I oe=swee tool =CU 0.5 x a
41 wort, C11 OS X . .
54 'et,' womb tool So piston hole Os x a = .
93 insidl 16ambtolt 10 2
- 52 -
Date Recue/Date Received 2022-02-23
General Description of Tool Carts
[0307] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, a tool cart 380
may deliver
components be used during the installation of calandria tubes 116 in the
calandria 102 of
the nuclear reactor core 100 into the nuclear reactor vault 128. The
installation processor
may be operable to control the tool cart 380. Any tool cart 380 known in the
art may be
used.
[0308] In some examples of a tool cart 380, the tool cart 380 may hold at
least one
calandria tube 116 to be installed in the calandria 102. The at least one
calandria tube 116
may be moveable from the tool cart 380 to the calandria tube installation tool
set 150 by
the robotic tool carrier 134a. Specifically, the robotic tool carrier 134a may
grip a calandria
tube 116 of the at least one calandria tube 116 positioned on the tool cart
380 and
transport that calandria tube 116 to the calandria tube insertion tool 160 of
the insertion
tool set 152. The installation processor may be operable to control the
robotic tool carrier
134a to transport a calandria tube 116 from the tool cart 380 to the insertion
tool set 152.
Any method known in the art for transporting a calandria tube 116 from the
tool cart 380
to the calandria tube installation tool set 150 may be used.
[0309] In some examples of the tool cart 380, the tool cart 380 may hold at
least one
calandria tube insert post 370. Each calandria tube insert post 370 of the at
least one
calandria tube insert post 370 may hold at least one calandria tube insert
240. The at least
one calandria tube insert post 370 may be moveable from the tool cart 380 to
the slide
table 190 of the insertion tool set 152 and/or the receiving tool set 154 by
the respective
robotic tool carrier 134a, 134b. The installation processor may be operable to
control the
robotic tool carrier 134a, 134b to transport a calandria tube insert post 370
from the tool
cart 380 to the insertion tool set 152 and/or the receiving tool set 154. Any
method known
in art for transporting the calandria tube insert posts 370 may be used.
[0310] In some examples of the tool cart 380, the tool cart 380 may hold at
least one
swab rack 382. Each swab rack 382 of the at least one swab rack 382 may hold
at least
one swab 252. As shown in FIG. 56, in some examples, the swab rack 382 may
have four
- 53 -
Date Recue/Date Received 2022-02-23
tubes 384. In some examples, the bottom three tubes 384b, 384c, 384d may be
filled with
clean swabs 252. In some examples the top tube 384a may be left empty for used
swabs
252 to be deposited therein. Used swabs 252 may also be deposited in the
bottom three
tubes 384b, 384c, 384d after the clean swabs 252 have been removed therefrom.
[0311] The at least one swab rack 382 may be moveable from the tool cart
380 to the
slide table 190 of the insertion tool set 152 and/or the receiving tool set
154 by the
respective robotic tool carrier 134a, 134b. The installation processor may be
operable to
control the robotic tool carrier 134a, 134b to transport a swab rack 382 from
the tool cart
380 to the insertion tool set 152 and/or the receiving tool set 154. Any
method for
transporting the swab racks 382 may be used.
[0312] In some examples, the robotic tool carrier 134 may be operable to
transport
the swab rack 382 mounted to the slide table 190 to the tool cart 380. The
swab rack 382
mounted to the slide table 190 may contain at least one used swab 252. The
installation
processor may be operable to control the robotic tool carrier 134 to transport
the swab
rack 382 mounted to the slide table 190 to the tool cart 380.
[0313] In some examples, the robotic tool carrier 134 may be operable to
transport
the calandria tube insert post 370 mounted to the slide table 190 to the tool
cart 380. The
calandria tube insert post 370 mounted to the slide table 190 may not have any
calandria
tube inserts 240 thereon (i.e., the calandria tube insert post 370 may be an
empty
calandria tube insert post 370). The installation processor may be operable to
control the
robotic tool carrier 134 to transport the calandria tube insert post 370
mounted to the
slide table 190 to the tool cart 380.
[0314] In some examples, a first tool cart 380a may deliver components to
the
insertion tool set 152 and a second tool cart 380b may deliver components to
the
receiving tool set 154. In some examples, the first tool cart 380a and the
second tool cart
380b may contain different components. In some examples, the first tool cart
380a and
the second tool cart 380b may contain the same components, but different
amounts of
that component.
- 54 -
Date Recue/Date Received 2022-02-23
[0315] Referring now to FIG. 56, an example of a tool cart 380 for
delivering
components to the insertion tool set 152 is illustrated. In the example
illustrated, the tool
cart 380 holds twenty four calandria tubes 116. In the example illustrated,
the calandria
tubes 116 are supported on the tool cart 380 by a calandria tube rack 390. As
shown, the
calandria tube rack 390 may have a first rack end 392 and a second rack end
394. Each of
the first and second rack ends 392, 394 may include a plurality of shelves
396. In the
example illustrated, each shelf 396 of the plurality of shelves 396 supports
four calandria
tubes 116. In other examples, each shelf 396 may hold more than four calandria
tubes
116. In other examples, each shelf 396 may hold less than for calandria tubes
116. In the
example illustrated, each shelf 396 is removeable after the four calandria
tubes 116 held
by that shelf 396 are removed. In some examples, the robotic tool carrier 134
is operable
to remove the shelves 396. The installation processor may be operable to
control the
robotic tool carrier 134 to remove the shelves 396.
[0316] Still referring to FIG. 56, in the example illustrated, the tool
cart 380 holds
three calandria tube insert posts 370. In the example illustrated each
calandria tube insert
post 370 holds eight calandria tube inserts 240. In the example illustrated,
the tool cart
380 holds three swab racks 382. In the example illustrated, three swab racks
382 hold
enough swabs 252 to install twenty four calandria tubes 116 in the calandria
102 of the
nuclear reactor core 100.
[0317] Referring now to FIG. 57, an example of a tool cart 380 for
delivering
components to the receiving tool set 154 is illustrated. In the example
illustrated, the tool
cart 380 holds six calandria tube insert posts 370. In the example illustrated
each calandria
tube insert post 370 holds eight calandria tube inserts 240. In the example
illustrated, the
tool cart holds six swab racks 382. In the example illustrated, six swab racks
382 hold
enough swabs 252 to install forty eight calandria tubes 116 in the calandria
102 of the
nuclear reactor core 100.
[0318] It is to be understood that in other examples of the tool cart 380,
the tool cart
380 may hold a different number of calandria tube insert posts 370 and each
calandria
tube insert post 370 may hold a different number of calandria tube inserts
240.
- 55 -
Date Recue/Date Received 2022-02-23
[0319] It is to be understood that in other examples of the tool cart 380,
the tool cart
380 may hold a different number of swab racks 382 and each swab rack 382 may
hold a
different number of swabs 252.
[0320] Referring now to FIG. 58, an example of where the tool cart 380a for
delivering
components to the insertion tool set 152 may be located during a calandria
tube
installation process. FIG. 58 also illustrates an example of where the tool
cart 380b for
delivering components to the receiving tool set 154 may be located during a
calandria
tube installation process. In the example illustrated, the tool cart 380a for
bringing
components to the installation tool set is the tool cart 380 illustrated in
FIG. 56. In the
example illustrated, the tool cart 380b for bringing components to the
receiving tool set
154 is the tool cart 380 illustrated in FIG. 57.
[0321] Still refereeing to FIG. 58, the tool carts 380a, 380b may enter the
nuclear
reactor vault 128 through a vault door 140. In some examples, the tool carts
380a, 380b
are transported within the nuclear reactor vault 128 by a tool cart mover (not
shown).
The tool cart mover may be an independent component from the tool cart 380.
The tool
cart mover may be operable by the installation processor. One tool cart mover
may be
operable to transport the tool cart 380 for delivering component to the
insertion tool set
152 and be operable to transport the tool cart 380 for delivering components
to the
receiving tool set 154.
[0322] During a calandria refurbishment project, multiple tool carts may be
used. For
example, two tool carts 380 for bringing components to the insertion tool set
152 may be
used and two tool carts 380 for bringing components to the insertion tool set
152 may be
used. When using four carts 380 as described above, workers can load one of
the tool
carts 380 for bringing components to the insertion tool set 152 outside of the
nuclear
reactor vault 128 while the other tool cart 380 for bringing components to the
insertion
tool set 152 is within the nuclear reactor vault 128. Similarly, when using
four carts 380
as described above, workers can load one of the tool carts 380 for bringing
components
to the receiving tool set 154 outside of the nuclear reactor vault 128 while
the other tool
- 56 -
Date Recue/Date Received 2022-02-23
cart 380 for bringing components to the receiving tool set 154 is within the
nuclear
reactor vault 128. In some examples more than four tool carts 380 may be used.
[0323] In some examples, each tool cart 380 may include a motor for driving
that tool
cart. The installation processor may be operable to control the motor for
driving the tool
cart 380. The installation processor may be operable to control the direction
of travel of
the tool cart 380.
General Description of a Floating Pin
[0324] In accordance with one aspect of this disclosure, which may be used
by itself
or in combination with any other aspect of this disclosure, an existing heavy
work table
130 may be modified to permit yaw correction. The installation processor may
be
operable to control the yaw of the heavy work table 130.
[0325] In some examples, an existing heavy work table 130 may be modified
by
changing one of the front post pin spacers to a floating pin configuration
400. An example
of a floating pin configuration 400 is shown in FIG. 59.
[0326] While the above description describes features of example
embodiments, it
will be appreciated that some features and/or functions of the described
embodiments
are susceptible to modification without departing from the spirit and
principles of
operation of the described embodiments. For example, the various
characteristics which
are described by means of the represented embodiments or examples may be
selectively
combined with each other. Accordingly, what has been described above is
intended to be
illustrative of the claimed concept and non-limiting. It will be understood by
persons
skilled in the art that other variants and modifications may be made without
departing
from the scope of the invention as defined in the claims appended hereto. The
scope of
the claims should not be limited by the preferred embodiments and examples but
should
be given the broadest interpretation consistent with the description as a
whole.
- 57 -
Date Recue/Date Received 2022-02-23
