CA3149912C - System and method for automated calandria tube installation - Google Patents

Abstract

Described herein are systems and methods for installing a calandria tube in a calandria of a nuclear reactor core. The systems may include a calandria tube installation tool set. The calandria tube installation tool set may include an insertion tool set, a receiving tool set, and an installation processor. The methods may include operating the installation processor to control tools of the insertion tool set and/or the receiving tool set to install the calandria tube in the calandria of the nuclear reactor.

Description

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.

Date Recue/Date Received 2022-02-23 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 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 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.

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.

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.

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;

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;

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;

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;

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 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.

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).

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 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.

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 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.

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 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 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 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 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.

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 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 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 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 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 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.

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.

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 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 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.

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.

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.

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.

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 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 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.

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 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 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 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.

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 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 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.

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.

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 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, 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.

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 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.

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 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 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.
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93 insidl 16ambtolt 10 2 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 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.

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.

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 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.

Date Recue/Date Received 2022-02-23

Claims (4)

What is claimed is:

1. 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:
position a calandria tube insertion tool of the calandria tube installation tool set in a calandria tube receiving position;
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 operate the calandria tube insertion tool to insert the calandria tube into the lattice site of the first tube sheet by advancing a driving head of the calandria tube insertion tool towards the lattice site, the driving head engaging a first end of the calandria tube as the driving head is advanced towards the insertion site.

2. The method of claim 1, further comprising operating the installation processor to:
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 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.

3. A system for installing a calandria tube in a nuclear reactor core comprising:
an insertion tool set comprising:
a first slide table for moving about a first tube sheet of the nuclear reactor core;
a nd 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, a receiving tool set comprising:
a second slide table for moving about a second tube sheet of the nuclear reactor core; and Date Recue/Date Received 2022-12-01 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; and a processor in communication with the insertion tool set and the receiving tool set configured to:
position the first slide table so that the calandria tube insertion tool is aligned with the lattice site of the first tube sheet;
position the second slide table so that the calandria tube guide tool is aligned with the lattice site of the second tube sheet;
operate the calandria tube insertion tool to insert the calandria tube into the lattice site of the first tube sheet by advancing a driving head of the calandria tube insertion tool towards the lattice site, the driving head engaging a first end of the calandria tube as the driving head is advanced towards the insertion site; and operate the calandria tube guide tool to guide the calandria tube into the lattice site of the second tube sheet.

4.
The system of claim 3 wherein the insertion tool set 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.

Date Recue/Date Received 2022-12-01