Note: Descriptions are shown in the official language in which they were submitted.
WO 2023/060356
PCT/CA2022/051513
SYSTEMS, DEVICES AND METHODS OF CUTTING AND CLEANING FEEDER
TUBES
Cross-Reference to Related Patent Applications
[0001] This application claims the benefit of U.S. Provisional
Patent Application
No. 63/255,695, filed on October 14, 2021. The entire contents of U.S.
Provisional
Patent Application No. 63/255,695 are incorporated herein by reference for all
purposes.
Technical Field
[0002] This disclosure relates generally to systems, devices and
methods of
cutting and cleaning tubes, and more specifically, to systems, devices and
methods of
cutting and cleaning feeder tubes of a calandria nuclear reactor.
Background
[0003] Known methods for processing feeder tubes, also referred
to as calandria
tubes, of a calandria of a nuclear reactor core involve deploying skilled
workers to
manually place feeder tubes on a honing station. The honing station applies a
vacuum
to one end of the tubes while a brush enters the opposing end to clean a
radioactive
material from the inside (e.g. magnetite). Feeder tubes are generally about
six feet long
and can contain and emit high amounts of radiation. Accordingly, the workers
can be
subjected to high levels of radiation when performing the calandria tube
cutting and
cleaning. Further, because of the complexity and scale of the nuclear
reactors, workers
may be required to be in close proximity to radioactive tubes for long periods
of time.
[0004] There is a need for improved systems, devices and methods
of cutting
and cleaning feeder tubes of a calandria nuclear reactor.
Summary
[0005] In accordance with a broad aspect, a system for processing
a calandria
tube is described herein. The system includes a cutting station configured to
cut the
calandria tube to produce a cut calandria tube; a honing station configured to
clean the
cut calandria tube to produce a cut and cleaned calandria tube; at least one
robotic arm
- 1 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
coupled to a tool assembly for gripping the calandria tube; and a computing
unit in
communication with the cutting station, the honing system, and the robotic
arm. The
computing unit is configured to: transmit a control signal to cause the
robotic arm to
collect the calandria tube from a first receptacle; determine a length of the
calandria
tube; provide the length of the calandria tube and the calandria tube to the
cutting
station; collect a cut calandria tube from the cutting station; determine a
length of the cut
calandria tube; provide the length of the cut calandria tube and the calandria
tube to the
honing station; and collect a cut and cleaned calandria tube from the cutting
station.
[0006] In at least one embodiment, the robotic arm includes one
or more sensors
configured to determine a length of the calandria tube.
[0007] In at least one embodiment, the computing unit is
configured to, based on
the length of the calandria tube, provide the cutting station with a position
on the
calandria tube to cut the calandria tube.
[0008] In at least one embodiment, the robotic arm includes one
or more sensors
configured to determine a length of the cut calandria tube.
[0009] In at least one embodiment, the computing unit is
configured to provide a
processor of the honing station with the length of the cut calandria tube.
[0010] In at least one embodiment, the robotic arm includes one
or more sensors
to measure a quantity of radiation in the cut and cleaned calandria tube.
[0011] In at least one embodiment, the computing unit is
configured to, based on
the quantity of radiation in the cut and cleaned calandria tube, determine
with the cut
and cleaned calandria tube is appropriate for post-processing.
[0012] In at least one embodiment, the computing unit is
configured to determine
with the cut and cleaned calandria tube is appropriate for post-processing by
comparing
the quantity of radiation in the cut and cleaned calandria tube to a threshold
level of
radiation that is acceptable for post-processing.
[0013] In at least one embodiment, the cutting station includes a
platform to
support the calandria tube and a cutting element positioned above the
platform.
- 2 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
[0014] In at least one embodiment, the cutting station includes a
cutting station
computing unit configured to: receive the length of the calandria tube from
the
computing unit and; based on the length of the calandria tube, direct the
cutting element
on where to cut the calandria tube.
[0015] In at least one embodiment, the honing station includes a
clamping
system configured to receive and retain a cut calandria tube, a honing
mechanism
configured to mechanically remove radioactive material from an inner surface
of the cut
calandria tube, and a vacuum system configured to draw away radioactive
material from
an inner cavity of the cut calandria tube.
[0016] In accordance with another broad aspect, a method of
processing a
calandria tube is described herein.
[0017] In accordance with another broad aspect, devices for
processing a
calandria tube are described herein.
[0018] These and other features and advantages of the present
application will
become apparent from the following detailed description taken together with
the
accompanying drawings. It should be understood, however, that the detailed
description
and the specific examples, while indicating preferred embodiments of the
application,
are given by way of illustration only, since various changes and modifications
within the
spirit and scope of the application will become apparent to those skilled in
the art from
this detailed description.
Brief Description of the Drawings
[0019] For a better understanding of the various embodiments
described herein,
and to show more clearly how these various embodiments may be carried into
effect,
reference will be made, by way of example, to the accompanying drawings which
show
at least one example embodiment, and which are now described. The drawings are
not
intended to limit the scope of the teachings described herein.
[0020] FIG. 1 is a perspective view of a nuclear reactor core.
[0021] FIG. 2 is a perspective view of a fuel channel assembly.
- 3 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
[0022] FIG. 3 is a front view of a system for cutting and
cleaning feeder tubes,
according to at least one embodiment described herein.
[0023] FIG. 4 is a top view of the system of FIG. 3.
[0024] FIG. 5 is a perspective view of a honing system of the
system of FIG. 3,
according to at least one embodiment described herein.
[0025] Further aspects and features of the example embodiments
described
herein will appear from the following description taken together with the
accompanying
drawings.
Detailed Description
[0026] Various apparatuses, methods and compositions are
described below to
provide an example of at least one embodiment of the claimed subject matter.
No
embodiment described below limits any claimed subject matter and any claimed
subject
matter may cover apparatuses and methods that differ from those described
below. The
claimed subject matter is not limited to apparatuses, methods and compositions
having
all of the features of any one apparatus, method or composition described
below or to
features common to multiple or all of the apparatuses, methods or compositions
described below. It is possible that an apparatus, method or composition
described
below is not an embodiment of any claimed subject matter. Any subject matter
that is
disclosed in an apparatus, method or composition described herein that is not
claimed
in this document may be the subject matter of another protective instrument,
for
example, a continuing patent application, and the applicant(s), inventor(s)
and/or
owner(s) do not intend to abandon, disclaim, or dedicate to the public any
such
invention by its disclosure in this document.
[0027] Furthermore, it will be appreciated that for simplicity
and clarity of
illustration, where considered appropriate, reference numerals may be repeated
among
the figures to indicate corresponding or analogous elements. In addition,
numerous
specific details are set forth in order to provide a thorough understanding of
the example
embodiments described herein. However, it will be understood by those of
ordinary skill
in the art that the example embodiments described herein may be practiced
without
- 4 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
these specific details. In other instances, well-known methods, procedures,
and objects
have not been described in detail so as not to obscure the example embodiments
described herein. Also, the description is not to be considered as limiting
the scope of
the example embodiments described herein.
[0028] 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 should be construed as including a deviation of the modified term, such
as 1%,
2%, 5%, or 10%, for example, if this deviation does not negate the meaning of
the term
it modifies.
[0029] Furthermore, the recitation of any 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 up to
a certain amount of the number to which reference is being made, such as
1')/0, 2%, 5%,
or 10%, for example, if the end result is not significantly changed.
[0030] 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, Y or
X and Y, for example. As a further example, "X, Y, and/or Z" is intended to
mean X or Y
or Z or any combination thereof Also, the expression of A, B and C means
various
combinations including A; B; C; A and B; A and C; B and C; or A, B and C.
[0031] The following description is not intended to limit or
define any claimed or
as yet unclaimed subject matter. Subject matter that may be claimed 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. Accordingly, it will be
appreciated by a
person skilled in the art that an apparatus, system or method disclosed in
accordance
with the teachings 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 that
is physically feasible and realizable for its intended purpose.
- 5 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
General Description of a Nuclear Reactor Core
[0032] 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.
[0033] 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 that extends 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, for example, FIG. 2).
[0034] 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.
- 6 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
[0035] 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.
[0036] Due to the extreme conditions within the calandria 102
during operation of
the nuclear reactor core 100, the calandria tubes 116 may degrade over time.
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.
[0037] The following description outlines systems, devices and
methods for
processing calandria tubes 116 after they have been removed from a nuclear
reactor
core 100. Although the discussion that 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 operating a nuclear reactor core 100.
[0038] Further, although the discussion that follows is in
respect of a CANDU
type nuclear reactor, it is to be understood that the systems and methods
described
below may be implemented on other types of nuclear reactors.
General Description of Calandria Tube Cutting and Cleaning
[0039] Turning now to the figures, FIG. 3, illustrated therein is
a cell 300 for
processing calandria tubes.
[0040] Cell 300 includes a cutting station 302 for cutting the
calandria tubes 116
and a honing station 304 for cleaning the calandria tubes 116. For example,
the honing
- 7 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
station 304 may be configured to clean an inner surface of the calandria tubes
116 to
remove substantially all the radioactive material therein.
[0041] Cell 300 also includes one or more computing units 307
communicatively
coupled to the cutting station 302, the honing station 304 and/or the robotic
arm 306.
Computing unit 307 is configured to provide information to and receive
information from
each of the cutting station 302, the honing station 304 and/or the robotic arm
306.
Computing unit 307 generally includes a display for showing a user interface
to a user.
[0042] Cell 300 also includes a first robotic arm 306 configured
to retrieve the
calandria tubes 116 from a carrier 308, such as but not limited to a pallet or
a bin. In the
embodiments shown in the figures, first robotic arm 306 is configured to
retrieve the
calandria tubes 116 from a carrier 308 and place the calandria tubes 116 on
the cutting
station 302. First robotic arm 306 is also configured to remove the cut
calandria tubes
316 from the cutting station 302 and place the cut calandria tubes 316 on the
honing
station 304. First robotic arm 306 is also configured to remove the cut and
cleaned
calandria tubes 318 from the honing station 304 and place the cut and cleaned
calandria tubes 318 into a second vessel 320. Second vessel 320 may include,
for
example a pallet or a bin. In at least one embodiment, the first robotic arm
306 may be
configured to sort the cut and cleaned calandria tubes 318 based on an amount
of
radioactive material present in the cut and cleaned calandria tubes 318 after
being
cleaned. For example, the first robotic arm 306 may be configured to sort the
cut and
cleaned calandria tubes 318 into a pass bin and fail bin. Sorting of the cut
and cleaned
calandria tubes 318 can be based on a preselected threshold level of
radioactive
material that may be present within the cut and cleaned calandria tubes 318
after
cleaning.
[0043] In at least one embodiment, cell 300 may include more than
one robotic
arm to conduct the task outlined above when referring to the first robotic arm
306. For
example, cell 300 may include a first robotic arm 306 configured to configured
to
retrieve the calandria tubes 116 from a carrier 308, place the calandria tubes
116 on the
cutting station 302 and retrieve cut calandria tubes 316 from the cutting
station. A
second robotic arm (not shown) may then be configured to retrieve the cut
calandria
- 8 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
tubes 316, place the cut calandria tubes 316 on the honing station 304,
measure the
radiation of the cut and cleaned calandria tubes 318, determine where to place
the cut
and cleaned calandria tubes 318 and place the cut and cleaned calandria tubes
318 in a
receptacle.
[0044] Generally, in the embodiments described herein, the
calandria tubes 116
removed from the nuclear reactor core have a length of about six (6) feet and
a
diameter in a range of about two to five inches. Calandria tubes 116 are
typically
straight, however, may be curved and include one or more bends.
Calandria Tube Cutting Station
[0045] FIG. 4 shows a top down view of cell 300 including a
cutting station 302, a
honing station 304 and a robotic arm 306.
[0046] Generally, robotic arm 306 is configured to select a
calandria tube 116
from a plurality of calandria tubes and place the calandria tube 116 on a
platform of the
cutting station 302 to be cut.
[0047] Calandria tubes 116 may be straight or may be curved. In
at least one
embodiment, calandria tubes 116 may have a curve.
[0048] Calandria tubes 116 are typically about six feet longer
when they are
received at cell 300. Cutting station 302 is typically configured to cut the
calandria tubes
116 into cut calandria tubes that are about two feet long. In at least one
embodiment,
the calandria tubes 116 are processed prior to being cleaned, for example, to
reduce a
size of the honing station 304 required for cleaning the calandria tubes. Cut
calandria
tubes 316 being about two feet long may be easier to clean than longer
calandria tubes,
for example because they require a shorter brush for cleaning.
[0049] In at least one embodiment, robot(s) 306 are configured to
place the
calandria tubes 116 on a platform 322 for cutting by cutting station 302.
Cutting station
302 generally includes a cutting mechanism 324 that includes a cutting element
(not
shown for cutting the calandria tubes 116.
[0050] In at least one embodiment, cutting mechanism 324 is
configured to
determine a length of the calandria tubes 116 to be cut (e.g., placed on
platform 322)
- 9 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
and, based on the determined length, determine where to cut the calandria
tubes 116 to
provide cut calandria tubes 316 having a length of about two feet.
[0051] Generally, cutting element is positioned above platform
322 and is
actuated vertically (e.g., by a motor (not shown)) to cut each of the
calandria tubes 116.
The cutting element may include any cutting element known in the art that is
suitable for
cutting steel calandria tubes 116. For example, the cutting element may be a
14 inch
cold cut saw.
[0052] Once the cutting mechanism 324 has cut the calandria tubes
116 to
produce the calandria tubes 316, robot(s) 306 removes the cut calandria tubes
316 and,
optionally, provides the cut calandria tubes 316 to honing station 304 for
cleaning.
Calandria Tube Honing Station
[0053] FIG. 5 shows a perspective view of a honing station 304 of
the cell 300,
according to at least one embodiment.
[0054] Honing station 304 generally includes a clamping system
340 configured
to receive and retain a cut calandria tube 316 in the honing station 304, a
honing
mechanism 342 configured to mechanically remove radioactive material from an
inside
(e.g. an inner surface) of the cut calandria tube 316 and a vacuum system 344
configured to draw away radioactive material, such as but not limited to
magnetite, from
the inner surface of the cut calandria tube 316 after the honing mechanism 342
has
been activated.
[0055] Clamping system 340 typically includes a lower clamp 348
and an upper
clamp 349. Lower clamp 348 may be configured to receive a first end of a cut
calandria
tube and retain the first end adjacent to at least a portion of the vacuum
system 344.
For example, lower clamp 348 may be configured to have a diameter similar to
the
diameter of cut calandria tube 316 to engage and/or retain the first end of
the cut
calandria tube 316 by friction. Upper clamp 349 may include a first portion
350
configured to engage and/or retain a second end of the cut calandria tube 316
by
friction and a second portion 351 configured to receive a brush 352 of the
honing
mechanism 342 and direct the brush 352 into an inner cavity of the cut
calandria tube
- 10 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
316. In at least one embodiment, cut calandria tube 316 generally have a
length of
about two feet. Accordingly, in at least one embodiment, lower clamp 348 and
upper
clamp 349 are generally spaced apart by about two feet. In at least one
embodiment,
upper clamp 349 may be coupled to a vertical stroke servomotor 353 that is
configured
to move the upper clamp 349 vertically relative to the cut calandria tube 316
to provide
for cut calandria tubes 316 of various lengths. In at least one embodiment,
honing
station 304 may include one or more processors configured to determine a
length of cut
calandria tube 316 and control a position of upper clamp 349 via vertical
stroke
servomotor 353 based on the determined length of cut calandria tube 316. In at
least
one embodiment, robot(s) 306 may be configured to determine a length of cut
calandria
tube 316 and communicate the length of cut calandria tube 316 to one or more
processors of honing station 304, the one or more processors of honing station
304
being configured to position of upper clamp 349 via vertical stroke servomotor
353
based on the input from the robot(s) 306.
[0056] Honing mechanism 342 generally includes brush 352
configured to
mechanically agitate an inner surface of the cut calandria tube 316 to remove
radioactive material therefrom, a spindle 356 coupled to the brush 352 and
configured
to carry the brush 352 vertically within the cut calandria tube 316, and a
motor 358
configured to move the spindle 356 vertically relative to the cut calandria
tube 316. In at
least one embodiment, the motor 358 may be configured to receive a length of
the cut
calandria tube 316 from one or more of the robot(s) 306 and/or processor of
the honing
station 304 and may control a travel (i.e., a vertical distance between an
initial position
outside of the cut calandria tube 316 and a final position of the brush 352
adjacent to a
second (e.g. lower) end of cut calandria tube 316. In at least one embodiment,
motor
358 may ensure that brush 352 engage the entire inner surface of cut calandria
tube
316.
[0057] In at least one embodiment, brush 352 may be referred to
as a grinder.
Brush 352 ay be a wire brush and comprise one or more metal balls, for example
on a
lower end thereof.
- 11 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
[0058] In at least one embodiment, brush 352 travels vertically
within the cut
calandria tube 316 at a high speed and strokes up and down over the entire
length of
the cut calandria tubes 316.
[0059] Brush 352 is configured to have a diameter about equal to
a diameter of
the cut calandria tube 316. In at least one embodiment, brush 352 may be
replaced to
provide for cleaning cut calandria tubes 316 having varying diameters.
[0060] Vacuum station 344 typically comprises a collection tube
360 and a
vacuum generating device (not shown) configured to generate a vacuum to draw
radioactive material removed from the inner surface of the cut calandria tubes
316.
[0061] In at least one embodiment, vacuum system 344 may also
include one or
more shielded filters (e.g., NEPA filter) inside a receptable (each of which
is not shown),
such as but not limited to a metal box, to receive the radioactive material
from the cut
calandria tube 316. The vacuum generating device id configured to pull the
radioactive
material (e.g., magnetite) through the filter and drop the radioactive
material into the
receptable, which may include one or more shielded flasks.
[0062] Once the cut calandria tubes 316 have been cleaned and the
cut and
cleaned calandria tubes 318 have been produced, robot(s) 306 removes the cut
and
cleaned calandria tubes 318 and, optionally, provides the cut and cleaned
calandria
tubes 318 to a receptacle 320 for shipping.
General Description of a Robotic Arm
[0063] 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 cell
300 may include
one or more robotic arm 306. The robotic arm(s) 306 may be operable to
manipulate
one or more calandria tubes 116 within the cell 300. Any robotic arm 306 known
in the
art may be used to manipulate calandria tubes 116 within the cell 300,
including but not
limited to manipulating the calandria tubes 116 before cutting, after cutting,
before
cleaning and after cleaning.
- 12 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
[0064] One or more processors may be operable to control the
robot(s) 306. In at
least one embodiment, the robotic arm(s) 306 of cell 300 may be a six-axis
robot. In at
least one embodiment, the robotic arm(s) 306 of cell 300 may include haptic
feedback.
[0065] In at least one embodiment, robot(s) 306 may include one
or more haptic
manipulators.
[0066] In at least one embodiment, robotic arm(s) 306 may include
a first arm
having a gripper to, for example, grip one or more calandria tubes 116.
[0067] at least one embodiment, robotic arm(s) 306 may include a
first robotic
arm 306 having a first arm having a gripper to, for example, grip one or more
calandria
tubes 116 and a second robotic arm 306 having a first arm and having a two
grippers to,
for example, grip one or more calandria tubes 116.
[0068] In the example illustrated, the robotic arm 306 includes a
base 370, a first
arm 372 extending between a first arm first end 372a and a first arm second
end 372b.
As shown, the first arm first end 372a may be mounted to the base 370.
[0069] As described above, robotic arm 306 may include a second
arm extending
between a second arm first end and a second arm second end. The second arm
first
end may be mounted to the base as well.
[0070] In some examples, the robotic arm 306 may includes one or
more sensors
to measure a quantity of radiation in the cut and cleaned calandria tube.
[0071] Robotic arm 306 may include a first motor for controlling
the position of the
first arm 372 relative to the base 370 and, optionally, may include a second
motor for
controlling the position of the second arm relative to the base.
[0072] In at least one embodiment, robotic arm(s) 306 contain
sensors that
determine a length of the calandria tube 116 and provide the length of the
calandria
tube 116 to the computing unit.
[0073] While the applicant's teachings described herein are in
conjunction with
various embodiments for illustrative purposes, it is not intended that the
applicant's
teachings be limited to such embodiments as the embodiments described herein
are
intended to be examples. On the contrary, the applicant's teachings described
and
- 13 -
CA 03235090 2024-4- 15
WO 2023/060356
PCT/CA2022/051513
illustrated herein encompass various alternatives, modifications, and
equivalents,
without departing from the embodiments described herein, the general scope of
which is
defined in the appended claims.
- 14 -
CA 03235090 2024-4- 15
