The question has already been answered, but I wanted to say this in hopes that it will be helpful to you. Sending away an aging father who wants to be useful is neither strong nor courageous. It is not strength that makes us irritated, or afraid to be seen as weak.
It might be that he is afraid that he is getting old and is no longer useful. Many parents come to define their relationship with their children according to what they do for them. My own parents, who are in their nineties, raised 6 children and now all of their children are grown up and independent and don't need them any more. It is a great effort for them to do so, but every year they go out of state to Hood River, Washington, where the fruit trees are exceptional, and pick a hundred pounds of apples and pears and plums, and then they bring boxes of them to their adult children. We do not need the fruit, and usually have to share it with neighbors so that it will not go bad, but I always go out of my way to make them feel appreciated when they bring it around. I tell them how the best fruit is in Hood River and I wish I had time to pick it myself.
However, I know if they lived with me they would be wanting to do things all the time to be useful, and I also know it would be irritating. I like to do things my way and I don't like to take help from anyone. But it would be kinder of me to let them feel useful, and to express my gratitude for their help. It would also be a better example of strength.
I have problems with patience as well. But your daughters will learn better things from a parent who shows that they have flaws but they are trying to become better. One of your tasks as a parent is to show your daughters how to behave. If they think the way to behave is to do everything themselves, and to never need any help or have any flaws, you have not done your job correctly. What happens if they need help and cannot ask? What if one of your daughters gets involved with a bad thing, like drugs? She has learned from her father that a strong person does not ask for help. This will lead to disaster and heartbreak for all of you.
I know it is difficult and feels bad to be irritated and angry and lose patience, but if you want to be the best father possible show your daughters how a man acts when he has done wrong. Does he get angry and blame someone else? Or does he admit that he did wrong and say he will try to do better? If you can do that, you will be showing them true courage and strength, and they will come to understand this when they get old enough to understand human nature.
If my own father, who was a very independent, "strong" man who never asked for help and lost his temper frequently, had been the kind of person who taught me that it is okay to be wrong, and to apologize, I would be a stronger person for my own children. I grew up trying to be just like my father. To ask for help is the hardest thing for me. I can work all day, I can make lots of money, I can solve problems and I can figure out the answers. But when I have lost my temper, I am not strong enough to admit it. And I am a weaker person because of that, both as a wife and a mother. I don't feel that I can show weakness to my children, I must be the one in charge, the one who is strong. But I know this is a weakness, not a strength. The advice I give to you is what I wish someone had said to my father. It is more work to let your father be useful (even though it irritates you), but it will be an act of greater strength than to run away from the situation by throwing him out.
Perhaps you could divert him by asking him to do other things. What can he do for you that would be helpful and stress relieving for you? You also might try to sit down with him and talk about how you are feeling. Do not bring up that he might be feeling old or useless, this would be unkind and is an attack on him. The best way to approach a conflict with a loved one is from a position of expressed weakness. Do not say "You irritate me when you..." Instead, "I have been feeling stressed, and part of it is that I feel like I am the man of the house and I should be doing the work, but you do it before I do. Are we competing for the job? I feel like I am losing the battle (say it with a gentle smile, humor is good for this situation)." Try to make him an ally in your household, not a competitor. Set up boundaries and areas of responsibility. Soon enough (I don't know how old you are, probably a lot younger than me) you won't have him any more, and when your daughters marry and you are feeling that they don't need you any more, what do you want them to have learned from you?
And above all, do NOT feel that you are failing your daughters by not being the perfect, strong, independent man always in control. They will get enough of those if they grow up to read romance novels :) A real dad has to be a lot more than that.
Instead, find ways that you can just enjoy being with them. Play games with them. Go to parks, walk the neighborhood and play Pokemon Go, when they bring a problem to you...take the time to just listen. Read to them. It sounds like you are feeling guilt for accepting your father's help, and that is a character flaw that may come from hearing society vilify people who get welfare or who otherwise depend on others for their livelihood. You are not dependent on him. He is dependent on you. Be strong, and let him still be the dad now and then.