Counterforce mechanism and methods of operation thereof

1. A machine axis for a machine tool, comprising:

a support for supporting a tool or a workpiece;

a support drive for moving the support; and

a counterforce mechanism comprising:

a driven body;

a drive for moving the driven body;

a resilient coupling arrangement;

a control arrangement, wherein the coupling arrangement couples the support and the driven body to each other, and the control arrangement is arranged to output a drive signal to the driven body drive to move the driven body to a location where it exerts a force on the support via the coupling arrangement, such that the force counteracts an opposing force acting on the support and the counterforce mechanism holds the support at the desired position,

and the driven body is moveable along at least one guideway which guides the driven body in the direction of a linear reference axis and prevents rotation of the driven body relative to the linear reference axis of the guideway; and

a safety mechanism for resisting a decrease in the spacing between the support and the driven body beyond a minimum threshold or for resisting an increase in the spacing between the support and the driven body beyond a maximum threshold.

2. A machine axis of claim 1 , wherein the counterforce mechanism is configurable to exert a force on the support such that the support is held at a predetermined height above a support surface.

3. A machine axis of claim 1 , wherein the axis of motion of the support is linear.

4. A machine axis of claim 3 , wherein the support drive is a linear motor direct drive.

5. A machine axis of claim 1 , wherein the support and driven body are moveable along a common guideway.

6. A machine axis of claim 1 , including a sensor for detecting displacement of the support from the desired position and outputting a signal to the control arrangement in response thereto.

7. A machine axis of claim 1 including:

a damping mechanism for decelerating one of the support and the driven body relative to the other.

8. A machine axis of claim 1 , wherein the driven body is moveable relative to the same axis of motion as the support.

9. A machine axis of claim 1 , wherein the driven body is located within the support.

10. A machine axis of claim 1 , wherein the control arrangement is configured to adjust the position of the driven body having regard to the power demand of the support drive.

11. A machine axis of claim 1 , wherein the driven body drive is able to hold the driven body in position without requiring electrical power.

12. A machine tool including a machine axis of claim 1 .

13. A machine axis of claim 1 , including a brake mechanism for resisting movement of the support when the driving force exerted by the support drive is removed.

14. A machine axis for a machine tool, comprising:

a support for supporting a tool or a workpiece;

a support drive for moving the support; and

a counterforce mechanism comprising:

a driven body;

a drive for moving the driven body;

a resilient coupling arrangement;

a control arrangement, wherein the coupling arrangement couples the support and the driven body to each other, and the control arrangement is arranged to output a drive signal to the driven body drive to move the driven body to a location where it exerts a force on the support via the coupling arrangement, such that the force counteracts an opposing force acting on the support and the counterforce mechanism holds the support at a desired position, and wherein an axis of motion of the support is rotary; and

a safety mechanism for resisting a decrease in the spacing between the support and the driven body beyond a minimum threshold or for resisting an increase in the spacing between the support and the driven body beyond a maximum threshold.

15. A machine axis of claim 14 , wherein the support drive is a rotary motor direct drive.

16. A machine axis of claim 14 , wherein the support is rotatable in use about an axis, and the driven body is rotatable about an axis to an angular position dependent on the angular position of the support so as to exert a force on the support via the coupling arrangement to counteract torsional forces acting on the support.

17. A machine axis of claim 16 , wherein the support and driven body are rotatable around a common axis of rotation.

18. A machine axis of claim 14 , including a sensor for detecting displacement of the support from the desired position and outputting a signal to the control arrangement in response thereto.

19. A machine axis of claim 14 , including:

a damping mechanism for decelerating one of the support and the driven body relative to the other.

20. A machine axis of claim 19 , including a brake mechanism for resisting movement of the support when the driving force exerted by the support drive is removed.

21. A machine axis of claim 14 , wherein the driven body is moveable relative to the same axis of motion as the support.

22. A machine axis of claim 14 , wherein the driven body is located within the support.

23. A machine axis of claim 14 , wherein the control arrangement is configured to adjust the position of the driven body having regard to the power demand of the support drive.

24. A machine axis of claim 14 , wherein the driven body drive is able to hold the driven body in position without requiring electrical power.

25. A machine tool including a machine axis of claim 14 .