Patent Number: 
Section: claims

1. A bolt repair platform for repairing a bolt disposed in an internal support structure of a nuclear reactor vessel, comprising:a frame; anda tool module comprisinga tool having a first end configured to rotationally engage a bolt and a second end,a motor-driven rotary driver movably mounted on the frame, wherein the rotary driver defines a distal end thereof that is configured to retain the second end of the tool so that, when actuated, the rotary driver rotationally drives the tool, andan actuator operatively disposed between the rotary driver and the frame so that actuation of the actuator moves the rotary driver among a plurality of positions of the rotary driver with respect to the frame,wherein the frame is removably disposed on the structure, and the rotary driver is movable with respect to the frame so that, at each of the plurality of positions of the rotary driver, the first end of the tool is capable of engagement with a respective bolt disposed in the structure. 2. The bolt repair platform of claim 1, wherein the frame comprises a face disposed between the tool module and the internal support structure and a plurality of bolt access apertures extending through the face so that at least a portion of the tool passes through a bolt access aperture of the plurality of bolt access apertures to repair the bolt. 3. The bolt repair platform of claim 1 further comprising a plurality of vacuum cups attached to the frame and configured to apply a vacuum force to a surface of the internal support structure to maintain the bolt repair platform in position relative to the internal support structure during repair of the bolt. 4. The bolt repair platform of claim 1 further comprisinga second tool module comprisinga second tool having a first end configured to rotationally engage a bolt and a second end,a second motor-driven rotary driver movably mounted on the frame, wherein the second rotary driver defines a distal end thereof that is configured to retain the second end of the second tool so that, when actuated, the second rotary driver rotationally drives the second tool, anda second actuator operatively disposed between the second rotary driver and the frame so that actuation of the second actuator moves the second rotary driver among a plurality of positions of the second rotary driver with respect to the frame,wherein the second rotary driver is movable with respect to the frame, so that, at each of the plurality of positions of the second rotary driver, the first end of the second tool is capable of engagement with a second respective bolt disposed in the structure. 5. The bolt repair platform of claim 4, wherein the tool, the rotary driver and the actuator of the tool module are operable to repair the bolt simultaneously with the second tool, second rotary driver, and second actuator of the second tool module repairing the second bolt. 6. The bolt repair platform of claim 1, wherein the tool module further comprisesa second tool having a first end configured to rotationally engage a bolt and a second end,a second motor-driven rotary driver movably mounted on the frame, wherein the second rotary driver defines a distal end thereof that is configured to retain the second end of the second tool so that, when actuated, the second rotary driver rotationally drives the second tool, andwherein the actuator is operatively disposed between the second rotary driver and the frame so that actuation of the actuator moves the second rotary driver among a plurality of positions of the secondary rotary driver with respect to the frame. 7. The bolt repair platform of claim 1, wherein the tool module further comprises a tool rotation motor configured to rotate the tool module about an axis between at least one working position and a tool change position, wherein the first end of the tool is directed toward the internal support structure in the at least one working position. 8. The bolt repair platform of claim 7, wherein the tool rotation motor is configured to rotate the tool module at least 180 degrees about the axis. 9. The bolt repair platform of claim 7, wherein the frame comprisesa working face,a first side face,a second side face, anda plurality of bolt access apertures disposed through the working face and at least a portion of the first side face or second side face,wherein the at least one working position comprises a first working position in which the first end of the tool is directed toward the working face, a second working position in which the first end of the tool is directed toward the first side face, and a third working position in which the first end of the tool is directed toward the second side face. 10. The bolt repair platform of claim 7 further comprising a tool changer rack comprising a plurality of apertures configured to releasably retain one or more tools or bolts. 11. The bolt repair platform of claim 10 further comprising a vertical drive assembly to raise and lower the tool changer rack, the vertical drive assembly comprising a drive motor configured to drive a positioning gear along a rack coupled to the frame. 12. The bolt repair platform of claim 11 further comprising a spent bolt chute configured to receive a bolt or tool at a first end of the spent bolt chute and guide the bolt or tool to a spent bolt container disposed at a second end of the spent bolt chute. 13. The bolt repair platform of claim 12, wherein the tool changer rack comprises a spent bolt port extending through the tool changer rack and disposed at the first end of the spent bolt chute, such that the bolt or tool is passed through the spent bolt port to be received by the first end of the spent bolt chute. 14. The bolt repair platform of claim 1, wherein the actuator comprisesa first positioning motor configured drive the tool module along a first linear bearing, anda second positioning motor configured to drive the tool module along a second linear bearing,wherein the first linear bearing is disposed perpendicularly to the second linear bearing. 15. The bolt repair platform of claim 14, wherein the first positioning motor or the second positioning motor is an air motor. 16. The bolt repair platform of claim 1, wherein the tool module further comprises a camera configured to acquire data in a video format for display to an operator monitoring the tool driven by the rotary driver. 17. The bolt repair platform of claim 16, wherein the camera is radiation hardened to be operable with a dose of at least two MRad. 18. The bolt repair platform of claim 1, wherein the tool module comprises a tool drive coupler chuck configured to shift between an open state to accept and release the tool and a closed state to retain the tool. 19. The bolt repair platform of claim 1 further comprising a plurality of mecanum wheels configured to support the bolt repair platform on the structure and drive the bolt repair platform in one or more directions. 20. A system for repairing bolts disposed in baffle plates forming an internal support structure of a nuclear reactor vessel, comprising:a plurality of frames disposed adjacent one or more said baffle plates; andat each said frame of the plurality of frames,a tool disposed movably on the frame, the tool having an end configured to engage a first bolt disposed in a first baffle plate of the one or more baffle plates, anda first actuator operatively disposed between the tool and the frame so that actuation of the first actuator moves the tool with respect to the frame,wherein the frame and the tool are disposed with respect to the first baffle plate so that, upon actuating the first actuator to move the tool with respect to the frame to a position proximate a first bolt disposed in the first baffle plate, movement of at least one of the frame and the tool with respect to the first baffle plate engages the tool with the first bolt. 21. The system as in claim 20, wherein the tool at each said frame is movable on the frame in a first direction and in a second direction orthogonal to the first direction. 22. The system as in claim 21, wherein the first actuator at each said frame is disposed so that the first actuator moves the tool in the first direction, and comprising, at each said frame, a second actuator operatively disposed between the tool and the frame so that actuation of the second actuator moves the tool with respect to the frame in the second direction. 23. The system as in claim 22, comprising, at each said frame, a third actuator operatively disposed between the tool and the frame so that actuation of the third actuator moves the tool with respect to the frame in a third direction that is orthogonal to the first direction and the second direction. 24. The system as in claim 22, comprising, at each said frame, a sub-frame disposed on the frame movably with respect to the frame in the first direction, whereinthe tool is mounted on the sub-frame movably with respect to the frame in the second direction,the first actuator is operatively disposed between the sub-frame and the frame, andthe second actuator is operatively disposed between the tool and the sub-frame. 25. The system as in claim 23, comprising, at each said frame a fourth actuator operatively disposed between the tool and the frame so that actuation of the fourth actuator rotates the tool about an axis. 26. The system as in claim 23, comprising, at each said frame,a first sub-frame disposed on the frame movably with respect to the frame in the first direction, anda second sub-frame disposed on the first sub-frame movably with respect to the first sub-frame in the second direction,whereinthe tool is mounted on the second sub-frame movably with respect to the frame in the third direction,the first actuator is operatively disposed between the first sub-frame and the frame,the second actuator is operatively disposed between the second sub-frame and the first sub-frame, andthe third actuator is operatively disposed between the tool and the second sub-frame. 27. The system as in claim 20, comprising a sensor disposed with respect to the tool so that the sensor outputs a signal that varies with respect to the sensor's position with respect to one of the frame and the first baffle plate. 28. The system as in claim 27, wherein the sensor is a camera. 29. The system as in claim 27, wherein the sensor is a light-emitting optical sensor. 30. The system as in claim 20, comprising a sensor in communication with the first actuator so that the sensor outputs a signal that varies with operation of the first actuator in moving the tool. 31. The system as in claim 30, comprising a processor that receives the signal and computer instructions executable by the processor to cause the processor to track a position of the tool with respect to at least one of the frame and the first baffle plate. 32. A system for repairing bolts disposed in baffle plates forming an internal support structure of a nuclear reactor vessel, comprising:a frame disposed adjacent one or more said baffle plates;a plurality of tools disposed movably on the frame, each said tool having an end configured to engage one or more bolts disposed in the baffle plates; anda plurality of actuators,wherein, for each said tool of the plurality of tools,at least one actuator of the plurality of actuators is operatively disposed between the tool and the frame so that actuation of the at least one actuator moves the tool with respect to the frame independently of each other tool of the plurality of tools, andthe frame and the tool are disposed with respect to a first baffle plate of the one or more baffle plates so that, upon actuating a first actuator of the at least one actuator to move the tool with respect to the frame to a position proximate a first bolt disposed in the first baffle plate, movement of at least one of the frame and the tool with respect to the first baffle plate engages the tool with the first bolt. 33. A system for repairing bolts disposed in baffle plates forming an internal support structure of a nuclear reactor vessel, comprisinga frame adjacent one or more said baffle plates;a tool disposed movably on the frame, the tool having an end configured to engage a first bolt disposed in a first baffle plate of the one or more baffle plates;a sub-frame disposed movably on the frame, wherein the tool is mounted on the sub-frame;a first actuator operatively disposed between the tool and the frame so that actuation of the first actuator moves the tool with respect to the frame; anda first conduit attached to the sub-frame and extending from the sub-frame to a position proximate a cable source,wherein the tool is attached to an end of a cable from the cable source so that insertion of the cable into the first conduit positions the tool at the sub-frame, andwherein the frame and the tool are disposed with respect to the first baffle plate so that, upon actuating the first actuator to move the tool with respect to the frame to a position proximate the first bolt, movement of at least one of the frame and the tool with respect to the first baffle plate engages the tool with the first bolt. 34. The system as in claim 33, comprising a rotary driver operatively disposed between the sub-frame and the tool so that, when actuated, the rotary driver rotationally drives the tool. 35. The system as in claim 33, comprisinga valve in the first conduit, anda second conduit extending from the valve to a receptacle, wherein the valve is selectively actuatable between a first position at which the valve connects a first portion of the first conduit between the valve and the position proximate the cable source to a second portion of the first conduit that extends from the valve to the sub-frame and a second position at which the valve connects the first portion of the first conduit to the second conduit. 36. A system for repairing bolts disposed in baffle plates forming an internal support structure of a nuclear reactor vessel, comprising:a frame disposed adjacent one or more said baffle plates;a plurality of tools disposed on the frame, each tool having an end configured to engage a respective a first bolt disposed in a first baffle plate of the one or more baffle plates;a chuck disposed movably on the frame between a first position at which an operative end of the chuck opposes a first tool of the plurality of tools and actuation of the chuck causes the chuck to grip the first tool and a second position at which the first tool opposes the first bolt; andan actuator operably disposed between the chuck and the frame so that actuation of the actuator moves the chuck with respect to the frame, andwherein the frame and the chuck are disposed with respect to the first baffle plate so that upon actuating the actuator to move the chuck with respect to the frame to a position proximate the first bolt, movement of at least one of the frame and the chuck with respect to the first baffle plate brings the chuck to the second position. 37. The system as in claim 36, comprising a sub-frame disposed movably on the frame, wherein the chuck is disposed movably on the sub-frame between the first position of the chuck and the second position of the chuck. 38. The system as in claim 37, wherein the chuck is disposed movably on the sub-frame about an axis between the first position of the chuck and the second position of the chuck and comprising a second actuator operatively disposed between the chuck and the sub-frame so that actuation of the second actuator rotates the chuck about the axis.