RU2801696C1 - Device and method for positioning modular base module for mechanical machines - Google Patents

Abstract

FIELD: machine tool building.

SUBSTANCE: invention can be used for positioning a modular base module (4) of a mechanical machine, which comprises a reference module (41) with two longitudinal elements (45) with guides and a module (42) to be installed and aligned with the reference module (41) in three degrees of freedom formed by displacement along the vertical axis Z of the Cartesian coordinate system (CS), the angle "a" of rotation around the horizontal axis X of the Cartesian CS and the angle "b" of rotation around the horizontal axis Y of the Cartesian CS. The device (1) comprises a liquid levelling device (2), which has at least three positioning cylinders (21, 22, 23), at least one reference cylinder (24), which are mutually communicated in a fluid medium to form a system of communicating vessels, and the main support (3) having the first plate on the support legs, by adjusting the length of which the said installation and alignment is performed. A method for positioning the module using this device is also proposed.

EFFECT: improved positioning accuracy of the module and simplified alignment process.

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Description

The present invention relates to an apparatus and method for positioning a machine tool modular base module and related base.

As is known, machine tools (eg, milling machines, lathes, etc.) are usually mounted on a base, which, in turn, rests on a floor or foundation; in some cases the base is integrated directly with the machine, and there is only one base for the entire machine: in this case, the installation of the machine on the job site does not entail particular difficulties, since it is enough to correctly position the base according to the instructions of the manufacturer of this machine.

However, in other cases, the base of the machine consists of many parts or modules that are connected to each other, forming the actual base.

In these cases, in addition to the spatial orientation that the base itself must conform to (e.g., horizontal), the individual modules that make up the base must be correctly positioned (or oriented) in space relative to each other to allow geometrically correct connection while preventing critical and complex adjustment manipulations, and also due to the fact that the floor or foundation on which the module is to be placed is often uneven, that the base and individual base modules of a machine tool are quite heavy, and that, in order to ensure the required geometric tolerances, it is necessary to give node maximum stability and rigidity, which are fundamental for the functionality of a mechanical machine and the accuracy of its work.

An even more complicated case (in the context of which the above problems are felt even more strongly) is the case of a base made as described in WO2019106104: in this case the correct orientation of the modules that make up the base becomes even more difficult due to the fact that the individual modules not only have piping for machine fluids (e.g. coolant, lubricant, etc.), but must also connect linear guides that allow linear movement of machine carriages, work tables and/or machine plates along the direction of the guide over the finished base.

In this case, incorrect positioning of the modules completely prevents the connection of hydraulic couplings or linear guides, which ultimately leads to the inability to use the machine.

For example, a case can be considered in which it is necessary to add a module to a base that is already in place: when a new module is to be placed, it must be spatially positioned according to six degrees of freedom (three perpendicular axes and three angular rotations about the indicated axes): thus, the task is particularly complex and critical, with the result that in order to obtain the correct positioning (which ensures the operation of the machine), many positioning adjustments often have to be made, and this entails an increase in assembly time.

It is an object of the present invention to provide a device for positioning a machine tool modular base module and a positioning method related thereto, as well as a modular base capable of improving the state of the art in one or more of the aspects mentioned above.

Within this purpose, an object of the present invention is to provide a device for positioning a module of a modular base for machine tools and a positioning method related thereto, as well as a modular base for positioning and connection, which are useful for allowing the modules forming the base to be oriented in a relatively fast manner. .

Yet another object of the present invention is to provide a device for positioning a machine tool modular base module and a positioning method related thereto, as well as a positioning and connecting modular base, which are useful for allowing the modules forming the base to be oriented in a relatively precise manner. Another object of the present invention is to overcome the shortcomings of the prior art in an alternative way for any existing solutions.

Yet another object of the present invention is to provide a positioning device for a machine tool modular base module and a positioning method related thereto, as well as a positioning and connecting modular base, which are highly reliable, relatively easy to provide, and low in cost.

This objective, as well as these and other objects that will become more apparent in the following, are achieved by the positioning device of the modular base module for machine tools and the positioning method related to it, as well as the modular base for positioning and connection, according to the respective independent claims, when necessary, provided with one or more features of the dependent claims.

Additional characteristics and advantages of the present invention will become more apparent from the description of a preferred, but not exclusive, embodiment of a device for positioning a module of a modular base for machine tools and an associated positioning method, as well as a modular base for positioning and connecting, according to the present invention, shown as a non-limiting example in the accompanying drawings, in which:

FIG. 1 is a perspective view of the modular base during assembly, when a new module is to be assembled with the reference module already installed, with the assembly and orientation device according to the present invention in the first embodiment;

FIG. 2 is a schematic side view of a fluid leveling device included in the positioning device according to the present invention in the first embodiment;

FIG. 3 is a perspective view of the main support of the device according to the present invention in the first embodiment;

FIG. 4 is a perspective view of the modular base during assembly, when a new module is to be assembled with the reference module already installed, with the assembly and orientation device according to the present invention in the second embodiment;

FIG. 5 is a perspective view of the main support of the apparatus according to the second embodiment;

FIG. 6 is a sectional view of the main support of the device according to the previous drawing and part of the base module;

FIG. 7 is an exploded perspective view of the terminal portions of the rail-equipped longitudinal members belonging to two base modules to be connected according to the present invention;

FIG. 8 is a perspective view of the present invention with a third embodiment of a fluid leveling device.

Below, with reference to the drawings, firstly, a device for positioning a modular base module for machine tools and then a positioning method related thereto, both of which are the subject of the present invention, will be described.

The device for positioning a module of a modular base for machine tools according to the present invention, generally indicated by the reference symbol 1, is made essentially in the form of an installation kit containing two assemblies that are physically mutually distinguishable, but which are functionally interacting with each other to enable correct positioning of the module 42 to be installed with respect to the reference module 41 (for example, an already installed module); in particular, base 4 is provided with means for connecting modules 41 and 42 and any other additional modules that are not described here because they are similar.

The base 4 for the machine tool after assembly is provided with longitudinal elements equipped with built-in guides 45, which have a horizontal spatial orientation.

The positioning device 1 includes a first position check assembly, which is described immediately below and is also shown in FIG. 2 in basic form.

In fact, for this purpose, the positioning device 1 comprises a fluid leveling device 2.

The latter, in turn, contains three positioning cylinders 21, 22, 23 and a reference cylinder 24, shown in the main version in FIG. 1 and 2.

All cylinders 21, 22, 23, 24 are fluidly communicating so that they form a system of communicating vessels; thus, the level of the free surface of the liquid contained in the liquid leveling device 2 is the same for all cylinders 21, 22, 23, 24.

Positioning cylinders 21, 22, 23 may be associated with the module 42 to be installed, and the reference cylinder 24 may be associated with the reference module 41.

To this end, each of the positioning balloons 21, 22, 23 can be independently connected to the module 42 to be installed, and the reference balloon 24 can be connected to the reference module 41 through adapted connecting elements (for example, screws or bolts, or other elements), not shown in the drawings.

If the modules 41, 42 are provided with longitudinal elements 45 equipped with linear guides or, if necessary, sets of teeth (for example, spiral teeth or a ball screw guide, or a gear rack, etc.), to allow movement of a functional element of the machine (for example, a working head or movable carriage of the desktop, etc.), the cylinders are preferably connected directly to the specified longitudinal elements 45, which are equipped with guides.

According to another embodiment shown in FIG. 8, for a non-limiting solution with four positioning cylinders for module 42, the fluid leveling device 2 further comprises: first and second movable carriages 27, which can move, for example, along the guides of said longitudinal members equipped with guides of the module 42; positioning cylinders 21, 22, 23, 23' (if necessary, the latter is present), associated with the specified carriages; and a third carriage (not shown, but similar to the first two) to which the reference cylinder 24 is associated and which can move along the rails of the reference module 41.

In this embodiment, the positioning and reference cylinders are not directly connected to the longitudinal elements equipped with guides of these modules, but are connected indirectly by means of carriages 27.

The carriages 27 are operatively connected to the guides of the longitudinal elements in such a way that they can move along them; to this end, depending on the type of rails 45, the carriages 27 are preferably provided with connectors that cooperate with the connectors of the rails; for example, if the guides 45 are rack type guides having helical teeth, the carriages 27 are preferably equipped with worm screws that co-operate with the rack.

According to an improved implementation of the liquid leveling device 2 shown in FIG. 4 (and also in the example of FIG. 8), there are four positioning balloons 21, 22, 23 and 23' and/or two reference balloons 24 and 24'.

In another embodiment (not shown), there are more than four positioning balloons and more than two reference balloons.

The minimum number of positioning balloons of the device according to the present invention is three positioning balloons: this consideration stems from the fact that in space one and only one plane passes through three points, and thus the correct positioning of the plane that passes through the free surface of the liquid is ensured, contained in the cylinders 21, 22, 23, and the reference cylinder 24 allows you to correctly determine the location in space relative to the reference module 41 in accordance with the three degrees of freedom of the module 42 to be installed, to which these three positioning cylinders 21, 22, 23 are connected.

In particular, when the symbol Z denotes the vertical axis of the set of three Cartesian axes X, Y, Z and the symbols a, b, c the rotation angles around each of the axes (as shown in FIG. 1 and 4), the use of a fluid leveling device 2 allows you to align the position of the module 42 with respect to the position of the reference module 41, already positioned in accordance with the horizontal orientation of the longitudinal members equipped with guides, by precisely moving and orienting the module 42 along the Z axis and according to the angles a and b of rotation, thus eliminating three degrees of freedom in the spatial positioning of the module 42 relative to module 41.

In fact, as module 42 moves in space relative to module 41 until the free surface levels of the positioning cylinders 21, 22, 23 and the free surface level of the reference cylinder 24 become the same, the position of each module 41 and 42 becomes the same as in relation to the Z axis (elevation) and the angles a and b forming the angular orientation of the plane that contains the longitudinal elements of the module 42, and the condition of the plane being horizontal is achieved, which thus becomes normal to the Z axis and thus coplanar to the plane that contains longitudinal elements equipped with guides, reference module 41.

Of course, theoretically more accurate measurements are obtained by increasing the number of positioning or reference cylinders, but essentially the degrees of freedom that can be eliminated in the manner described above are the Z, a, b axes.

Preferably, the cylinders (both positioning and reference) are graduated to allow visual reading of the level of the free surface of the fluid and comparison.

In combination or alternatively, device 1 comprises a system for measuring the level of liquid inside cylinders; said system may be an electrical/electronic type system with optical sensors for measuring the free surface level; alternatively, the measuring system may be of a type adapted to check the amount of liquid contained in each canister, for example by measuring electrical parameters (eg, resistance or capacitance) of the liquid contained in each canister; in this latter case, preferably all cylinders should have the same volume.

Preferably, the liquid contained in the canisters is water or, alternatively, an electrically conductive or dielectric liquid.

Preferably, the cylinders are connected by tubes to a common reservoir 28, in the direction of which all tubes of all cylinders are open to form a system of communicating vessels with a common reservoir.

Preferably, the common tank 28 is provided with a liquid filling valve 29 for measuring and emptying the tank, the liquid is supplied from a liquid source; for example, if the liquid is ordinary water, the source may be an ordinary faucet connected to a water supply; this makes it possible to fill and empty in a reasonably expedient manner the entire communicable hydraulic circuit which contains the cylinders, the reservoir and the tubes.

The remaining degrees of freedom X, Y, c are excluded, in principle, by alignment using various and essentially known devices, for example, optical detection or measurement systems (eg laser, infrared, etc.), or the like.

However, according to another embodiment, the remaining degrees of freedom are eliminated by means of a mechanical key system 8, which is described below in the context of the description of the modular base 4, but which from now on is to be understood as part of the positioning device according to the present invention.

As for the second node of the positioning device 1, it is also shown in detail in FIG. 3 in the main implementation and is essentially a node to move.

For this purpose, the positioning device 1 comprises a main support 3 which includes a first plate 31 and support legs 32 which are connected to the first plate 31.

The legs 32 are adjustable in their extent relative to the plate 31 so that when they rest on the floor, they support the plate 31 at a height Z from the floor, which is adjustable.

For this purpose, the legs 32 are selectively extendable, for example by means of a screw or hydraulic or pneumatic device or the like; legs of this type are known per se and need not be described in detail.

Preferably there are four legs 32, as in the embodiment shown in FIG. 3, which are made with the possibility of independent adjustment of their length; when changing the adjustment of individual legs, the slab not only moves along the Z axis, but also rotates within the angles a and b.

The main support 3 is configured to support the module 42 of the base 4 from below in a position in which it is raised above the floor; in the basic embodiment, the positioning module 42 rests directly on the plate 31 of the main support 3 and is oriented according to the indicated three degrees of freedom Z, a, b due to the individual adjustment of the length of the legs 32.

Thus, by using the fluid leveling device 2 in conjunction with the main support 3 of the positioner 1, a module 42 can be installed aligned in Z, a, b with the module 41 on which the reference cylinder 24 is located.

According to a further feature, the main support 3 optionally includes an interface element 33 which is operatively connected to the first plate 31 and is configured to be placed between it and the module 42 to be installed.

Element 33 conjugation in the scope of their common features contains at least three transmission unit 34 ball type.

Ball-type transfer units are also known in the art under the term "ball-type transfer unit" and are to be considered per se known.

Briefly, each ball type transmission unit 34 comprises a ball 341 and a ball bearing 342 which is then applied to an adapted bearing.

In a basic embodiment (not shown), the ball-type transfer units 34 comprise removable mounting elements for communication with the base module 42 to be installed; once a module 42 has been installed and connected to an adjacent module 41, the ball type transfer units 34 can be removed and reused to install another module.

Thus, in this embodiment, the rolling bearings of said balls are provided in bearing housings 342 which are connected (preferably in a releasable manner) to the module 42 to be installed; after positioning, the balls 341 rotatably rest on the first plate 31, allowing the module 42 to be positioned according to the remaining degrees of freedom, which are not adjustable by the legs 32, i.e. along the X and Y axes and within the angle c (rotations around the Z axis).

Thus, it turns out that the main support 3 allows the spatial movement of the module 42 to be installed according to six degrees of freedom.

Once the correct positioning of the module 42 relative to the module 41 has been completed, supports 49 configured to adjust their length relative to the module 42 itself (e.g., leveling feet) are used to rest on the floor or foundation in the desired spatial position, which corresponds to the position obtained by using the base supports 3.

The latter can then be removed and used for spatial positioning of another module.

In yet more advanced implementations, such as shown in the accompanying drawings, the interface element 33, in addition to the ball-type transfer units 34, also includes a second plate 35 with flat opposite main surfaces, while the ball-type transfer units 34 are placed between the first plate 31 and second plate 35.

In this case, preferably, the first plate 31 is attached to the ball-type transfer units 34, and the module rests on the second plate 35, which is supported on the balls 341: the positioning in degrees of freedom X, Y, c is essentially the same as just described above.

The choice of ball-type transfer units 34 instead of simple swivel wheels is due to the fact that, compared to swivel wheels, ball-type transfer units 34 do not have non-holonomic constraints, which in the case of swivel wheels may require many maneuvers to ensure movement in the X-Y plane and rotation in within the angle c around the Z axis, which is required for correct and accurate positioning. Likewise, the selection of ball-type transfer units 34 instead of simple sliding surfaces is due to the fact that ball-type transfer units have reduced friction, which contributes to ease and accuracy of positioning.

The method according to the present invention includes the following steps:

a - providing a fluid leveling device 2 containing three positioning cylinders 21, 22, 23 and a reference cylinder 24, which are mutually communicated in a fluid medium to form a system of communicating vessels;

b - connection of the positioning cylinders 21, 22, 23 with the module 42 to be installed, and the reference cylinder 24 with the reference module 41;

c - providing the main support 3, which contains the first plate 31 and support legs 32, which are connected to the first plate 31 and each of which is made with the possibility of independent adjustment of its length relative to the first plate;

d - supporting the module 42 to be installed, the main support 3;

e - adjusting the support legs 32 until the levels of the free surface of the fluid in the positioning bottles 21, 22, 23 and the reference bottle 24 are aligned with each other;

f - fixing the module 42 to be installed in position.

Thus, alignment in the spatial position of the module 42 to be installed with respect to the reference module 41 is obtained according to at least three degrees of freedom (Z, a, b).

According to an improved implementation variant, the present method further includes the following steps:

g - providing an interface element 33, which is functionally connected with the first plate 31 and contains at least three ball-type transfer units 34;

h - placement of the interface element between the first plate 31 and the module 42 to be installed, to allow the modules 41, 42 to align in three additional degrees of freedom (X, Y, c).

Another object of the present invention is to provide a modular base 4 for machine tools, which contains the first module 41 and the second module 42 of the base, which can be mutually connected to form the base 4, each module 41, 42 contains ground-supported legs and two parallel longitudinal element 45 equipped with guides, preferably containing linear guides (preferably a ball screw or gear racks, or the like), which allow linear movement along the axis of the guides to advance the carriage with the working head of the machine (which preferably contains a spindle with a tool holder) and/or desktop, while in the state in which the base is assembled, each of the longitudinal elements 45 equipped with guides of one module 41 is aligned and coaxial with the corresponding longitudinal element equipped with guides 45 of the adjacent module 42 so that it can be extended along the longitudinal the length of the specified modular base.

In the assembly condition described in this application, it is assumed that the installed module 41 has parallel longitudinal elements 45 equipped with guides, retractable horizontally (or substantially horizontally), i.e. lying in the same horizontal plane.

Also, as shown in FIG. 7, the base according to the present invention for each terminal portion of the guide-equipped longitudinal members 45 of adjacent modules comprises a connection key system 8 which is configured to connect and maintain proper coaxial alignment of the guide-equipped longitudinal members of two adjacent modules.

The key system 8 according to the present invention for each pair of longitudinal elements 45 equipped with guides (one of the first module 41 and one of the second module 42) to be connected, contains a key 81, a socket 82 made in each longitudinal element equipped with guides, and centering pins 83.

The key 81 is prismatic, preferably in the form of a parallelepiped with parallel flat surfaces.

Each seat 82 has a shape that is complementary to the shape of the key 81 and an extension that is approximately half the size of the key, so that when the key is placed in the seats 82 of two adjacent longitudinal members provided with guides, essentially one half of it is placed in the seat 82 of one longitudinal member. 45, equipped with guides, and its other half is placed in the socket 82 of another longitudinal element 45, equipped with guides.

The key 81 is fixed in position by means of pins 83, which are placed in the first holes made in the longitudinal elements equipped with guides; the first holes extend substantially at right angles to the longitudinal extent of the guide-equipped longitudinal member: in the preferred case where the guide-equipped longitudinal members have a horizontal longitudinal extent, the pin holes 83 extend vertically.

The same applies to the key 81 having second holes which, in the position in which the key is placed in the sockets 82, are aligned with the first holes in the guide rail when the alignment of the guide rails is achieved.

Pins 83 are preferably tapered; there are at least two pins 83 for each socket 82 and a corresponding number of first and second holes are made in the guide-equipped longitudinal member and in the key 81: after aligning the guide-equipped longitudinal members, for example, using a positioning device or the method according to the present of the invention, the conical pins 83 are inserted into place with a fit.

Thus, long-term alignment of the longitudinal members equipped with guides, alignment of the respective linear guides and correct operation of the machine installed on said modular base thus provided are ensured.

Preferably, the key system 8 described above also makes it possible to simultaneously check the correct alignment of said two modules 41, 42 in degrees of freedom X, Y, c; thus, when using the device 1 described above, in the version with the main support 3 equipped with the first plate 31 and the ball-type transfer unit 34, it is not only possible to check the alignment of the modules 41, 42 by means of the liquid leveling device 2 (for degrees Z, a , b of freedom) and a key system (for degrees X, Y, c of freedom), but also the possibility of adjusting the position (in the indicated six degrees of freedom X, Y, Z, a, b, c) by means of the main support 3 by adjusting the legs 32 (for the position in Z, a, b coordinates) and the movement that can be achieved using the transfer blocks 34 of the ball type (for the position in the X, Y, c coordinates).

As can be seen from what has just been stated, the solution as described above allows precise alignment and spatial (according to the six degrees X, Y, Z, a, b, c of freedom specified) of modular base modules for machine tools without the need for much more expensive and fragile systems such as, for example, laser-guided systems or the like.

In one embodiment, the modular base according to the present invention is provided with the positioning device described above, at least during the assembly step of said modular base.

Thus, in this embodiment, said modular base has the characteristics described above relating to the positioning device 1 (including additional characteristics), which in this case are not described again for the sake of brevity.

Of course, additional base modules can also be installed in addition to the module 42, which are spatially oriented by means of the device 1 described above (or in a manner related thereto).

In practice, it has been found that the present invention achieves its intended purpose and solves its intended problems by providing an apparatus and method for positioning a modular base for machine tools, which allows the spatial positioning of modules to be performed quickly and accurately.

The present invention, thus conceived, covers many modifications and changes, all of which fall within the scope of protection defined by the appended claims; in addition, all parts can be replaced by other technically equivalent elements.

In practice, the materials used (as long as they are compatible with the particular application), as well as the corresponding shapes and sizes, can be any according to the requirements and the state of the art.

The disclosures in Italian Patent Application No. 102019000012486, the priority of which is claimed herein, are incorporated herein by reference.

Where the technical features mentioned in any claim are accompanied by reference signs, those reference signs are included for the sole purpose of enhancing the understanding of the claims and, accordingly, such reference signs do not have any limiting effect on the interpretation of each element. , identified, for example, by such reference signs.

Claims (23)

1. Device (1) for positioning the module of the modular base (4) of a mechanical machine, and the modular base (4) contains a reference module (41) with two longitudinal elements (45) equipped with guides that are parallel and located in a horizontal plane, and the module (42), to be installed and spatially aligned with the reference module (41), containing: - liquid leveling device (2), which contains at least three positioning balloons (21, 22, 23), at least one reference cylinder (24), moreover, these three positioning cylinders (21, 22, 23) and the reference cylinder (24) mutually communicate in a fluid medium with the formation of a system of communicating vessels, wherein said three positioning cylinders (21, 22, 23) are made with the possibility of installation on the module (42) to be installed and aligned, and the reference cylinder (24) is made with the possibility of installation on the reference module (41) to enable the alignment of the module ( 42) relative to the reference module (41) in three degrees of freedom formed by displacement along the vertical Z axis of the Cartesian coordinate system, the angle "a" of rotation around the horizontal X axis of the Cartesian coordinate system, and the angle "b" of rotation around the horizontal Y axis of the Cartesian coordinate system, - the main support (3), which contains the first plate (31), made with the possibility of placing an aligned module (42) on it, and support legs (32) that are connected to the first plate (31), each of the legs (32) being independently adjustable in its length relative to the first plate (31), so that the main support (3) allows the spatial movement of the module (42) to be installed and aligned, at least along these three degrees of freedom Z, "a", "b". 2. The device (1) according to claim 1, characterized in that the liquid leveling device (2) further comprises at least two carriages (27) configured to be installed on the module (42) to be installed and leveled, on which the said positioning cylinders (21, 22, 23), and one carriage configured to be mounted on a reference module (41) on which at least one reference cylinder (24) is mounted. 3. Device (1) according to claim 1 or 2, characterized in that said positioning balloons (21, 22, 23, 23') and said reference balloons (24, 24') are graduated. 4. Device (1) according to any one of paragraphs. 1-3, characterized in that it is provided with a system for measuring the level of the fluid inside said positioning bottles (21, 22, 23, 23') and said reference bottles (24, 24'). 5. Device (1) according to any one of paragraphs. 1-4, characterized in that it is equipped with a reservoir (28) which is hydraulically connected to the positioning cylinders (21, 22, 23, 23') and the reference cylinders (24, 24'), while said reservoir (28) is preferably equipped with a valve for filling the reservoir with fluid and emptying the reservoir. 6. Device (1) according to any one of paragraphs. 1-5, characterized in that the main support (3) additionally contains an interface assembly (33), which is functionally connected to the first plate (31) and contains at least three ball-type transmission units (34) located on the first plate (31 ) with the possibility of placing a module (42) on them to be installed and aligned, with the possibility of aligning the module (42) relative to the reference module (41) in three additional degrees of freedom formed by moving along the horizontal X axis of the Cartesian coordinate system and along the horizontal Y axis Cartesian coordinate system and the angle "c" of rotation around the vertical Z axis of the Cartesian coordinate system. 7. The device (1) according to claim 6, characterized in that the interface unit (33) is additionally equipped with a second plate (35), which is installed on the ball-type transmission blocks (34) with the possibility of moving by sliding along them and is made with the possibility of being placed on of the module (42) to be installed and aligned. 8. A method for positioning a module of a modular base (4) of a mechanical machine, wherein the modular base (4) contains a reference module (41) with at least two longitudinal elements (45) equipped with guides that are parallel and located in a horizontal plane, and a module ( 42) to be installed and spatially aligned with the reference module (41), including the use of the device (1) for positioning the module according to any one of paragraphs. 1-7 and the following steps: a) install three positioning balloons (21, 22, 23) on the module (42) to be installed and aligned, and install the reference balloon (24) on the reference module (41), b) placing the module (42) to be installed and leveled on the main support (3), c) changing the length of each of the support legs (32) relative to the first plate (31) until the levels of the free surface of the fluid in the positioning cylinders (21, 22, 23) and the reference cylinder (24) are aligned with each other, d) fix the aligned position of the module (42) to be installed and aligned. 9. The method according to claim 8, further comprising the use of a pairing node (33) and the following step: e) the interface node (33) is placed between the first plate (31) and the module (42) to be installed and aligned, and the module (42) is aligned with the reference module (41) according to the three additional specified degrees of freedom X, Y, "c ".

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