A laser-induced plasma enhanced electric discharge dressing device for superhard abrasive grinding wheel and method thereof

Abstract

The application discloses a kind of superhard abrasive grinding wheel laser-induced plasma intensification electric spark dressing device and method thereof, the device includes servo motor, coupling, spindle, to be repaired grinding wheel, laser generator, transmission device, laser ablation head, discharge medium injection device, discharge power supply, red copper electrode wheel, CCD camera, backlight, computer.Laser realizes the flattening and trimming of abrasive on the surface of grinding wheel, and electric spark discharge realizes the better equal-height of blade abrasive.The application can simultaneously realize the shaping and sharpening of grinding wheel, and use laser-induced plasma for electric spark discharge, through the synergistic coupling of laser plasma and discharge plasma, avoid the shielding effect of laser plasma, intensify the electric spark discharge effect, greatly improve the dressing efficiency.The flushing of discharge medium caused by compound plasma impact can effectively reduce abrasive thermal damage layer and binder recasting layer, so as to realize the high-efficiency, low-damage dressing of superhard abrasive grinding wheel.

Description

Technical Field

[0001] This invention relates to a device and method for dressing superhard abrasive grinding wheels, and more specifically, to a device and method for laser-induced plasma-enhanced electrical discharge dressing of superhard abrasive grinding wheels. Background Technology

[0002] Currently, superhard abrasive wheels are commonly used for grinding high-hardness, high-brittle, and difficult-to-machine materials such as cemented carbide, optical glass, functional ceramics, and gemstones. Metal-bonded grinding wheels are widely used in production due to their high bonding strength, good formability, and long service life. However, metal-based superhard abrasive wheels (diamond and cubic boron nitride wheels) inevitably experience wear or abrasive dulling during the grinding of hard and brittle materials, causing the wheels to lose their excellent grinding performance. Therefore, superhard abrasive wheel dressing equipment is needed to restore the excellent grinding performance of the wheels after initial preparation or dulling.

[0003] Currently, the main methods for dressing superhard abrasive wheels include mechanical dressing methods (such as diamond pen dressing, GC cup-shaped wheel dressing, and diamond roller dressing), special machining dressing methods (such as ultrasonic vibration dressing, electrical discharge dressing, electrolytic dressing, and laser dressing), and composite dressing methods (laser-mechanical composite dressing, electrolytic-electrical discharge dressing, and electrical discharge-mechanical dressing). Mechanical dressing methods involve significant mechanical forces during the dressing process, which can easily cause abrasive grains to detach, deform, and make the dressing accuracy uncontrollable. Ultrasonic vibration dressing utilizes the abrasive grains to grind the bonding agent on the wheel surface, causing the abrasive grains to protrude from the wheel surface. The dressed wheel surface has uniform abrasive grains with good directionality, but it cannot reshape the wheel and is environmentally unfriendly. Electrical discharge machining (EDM) dressing relies on the instantaneous localized high temperature generated by pulsed discharge between the dressing electrode and the grinding wheel (positive and negative electrodes) to melt or vaporize and remove the metal bond of the grinding wheel, thus achieving the desired shaping and sharpening. Electrolytic dressing utilizes the anodic dissolution effect during electrolysis to remove the bond in metal-bonded superhard abrasive grinding wheels, achieving sharpening. Laser dressing has wide applicability, unaffected by the processing medium or material. It leverages the differences in thermophysical and optical properties between the grinding wheel bond and abrasive grains, selectively removing the bond or abrasive grains by choosing appropriate processing parameters to achieve sharpening or shaping. However, the laser-induced plasma absorbs laser energy during dressing, preventing it from entering the grinding wheel material, creating a plasma shielding effect and reducing dressing efficiency. Furthermore, the laser ablation thermal effect inevitably results in defects such as recast layers, residual stress, and microcracks on the dressed surface. Composite dressing combines the advantages of various individual dressing methods, effectively integrating them to maximize strengths and minimize weaknesses, achieving high efficiency and high quality in grinding wheel dressing.

[0004] Composite dressing methods involving mechanical dressing inevitably involve "hard-on-hard" mechanical forces, resulting in low dressing accuracy. Electrolytic-electric discharge (EDM) composite dressing methods also have low dressing efficiency. Therefore, existing dressing methods struggle to balance dressing efficiency and accuracy. It is essential to invent a high-efficiency, high-quality superhard abrasive wheel dressing device and method. While the plasma induced in laser dressing absorbs laser energy and blocks its impact on the grinding wheel material, the high-voltage electric field applied in EDM dressing can guide the plasma's directional movement, forming a discharge channel that causes dielectric breakdown and material removal. Therefore, combining laser plasma and discharge plasma to enhance the discharge is considered. This not only eliminates the laser plasma shielding effect and improves laser ablation efficiency but also enhances the efficiency of EDM material removal, improving both the processing accuracy and efficiency of EDM.

[0005] Currently, no relevant patents or literature have been found regarding the laser-induced plasma-enhanced electrical discharge dressing method and equipment for metal-bonded superhard abrasive wheels. Summary of the Invention

[0006] The purpose of this invention is to provide a laser-induced plasma-enhanced electrical discharge dressing device and method for metal-bonded superhard abrasive wheels. This dressing method combines the advantages of both laser dressing and electrical discharge dressing. Laser-induced plasma and discharge plasma are synergistically coupled, improving the efficiency of discharge erosion of the binder material and efficiently achieving uniformity of the abrasive grain height on the wheel surface. Simultaneously, the shielding effect of the laser plasma on the laser is eliminated, and the tangential incident laser is precisely controlled to achieve evenness and smoothing of the abrasive grains. Furthermore, the scouring of the discharge medium caused by the composite plasma impact effectively reduces the thermal damage layer and binder recasting layer on the abrasive grains, thereby achieving high-precision, high-efficiency, and low-damage dressing of superhard abrasive wheels. The advantage of laser-induced plasma-enhanced electrical discharge dressing lies in the synergistic coupling and mutual enhancement effect between the laser and the discharge plasma, using the laser-induced plasma to enhance the discharge plasma channel of the electrical discharge. This method combines the advantages of laser dressing and electrical discharge dressing, avoiding the laser plasma shielding effect and enhancing the electrical discharge effect, simultaneously achieving the shaping and sharpening of the grinding wheel, thus realizing efficient, high-precision and controllable dressing of superhard abrasive grinding wheels.

[0007] To achieve the above objectives, this invention provides a laser-induced plasma-enhanced electrical discharge machining (EDM) dressing device for metal-bonded superhard abrasive wheels. The dressing device includes a servo motor, coupling, spindle, grinding wheel to be dressed, laser generator, transmission device, laser ablation head, discharge dielectric jetting device, discharge power supply, copper electrode wheel, CCD camera, backlight, and computer. The grinding wheel to be dressed is mounted on the spindle and rotates at a constant speed via the servo motor connected to the spindle through the coupling. The laser ablation head is mounted on Y-axis and Z-axis moving platforms, allowing for flexible movement and precise focusing onto the desired dressing surface according to the outer diameter of the grinding wheel. The rotation center of the copper electrode wheel is installed at the same height as the rotation center of the grinding wheel to be dressed, and the feed of the copper electrode wheel is controlled by the U-axis and V-axis moving platforms, achieving precise dressing of the entire working surface of the grinding wheel. The copper electrode wheel is connected to the negative terminal of the discharge power supply, and the grinding wheel to be repaired is connected to the positive terminal of the discharge power supply. The copper electrode wheel moves closer to the grinding wheel to be repaired along with the U- and V-axis moving platforms, and after maintaining a certain gap between the copper electrode wheel and the grinding wheel to be repaired, the discharge medium is sprayed. The tangentially incident laser and the copper electrode wheel reciprocate along the axial direction of the grinding wheel to be repaired to achieve precise dressing of the grinding wheel.

[0008] This invention also discloses a laser-induced plasma-enhanced electrical discharge dressing method for superhard abrasive grinding wheels, which includes the following steps:

[0009] Step 1: Ensure the installation accuracy of the grinding wheel and the copper electrode wheel to be repaired;

[0010] Step 2: Move the grinding wheel to be repaired into the CCD camera detection area to detect the contour accuracy of the grinding wheel; the CCD camera captures the topographic image of the outer surface of the grinding wheel and transmits it to the computer. The analysis software configured on the computer processes the image captured by the CCD camera to obtain the contour accuracy and surface morphology distribution of the grinding wheel, provides feedback on the contour error of the grinding wheel, adjusts the laser dressing parameters and the electrical discharge parameters, and performs the dressing of the grinding wheel.

[0011] Step 3: Tool wheel machining: Machining the outer contour of the copper electrode wheel with a lathe tool;

[0012] Step 4: Move the grinding wheel to be repaired into the dressing area, adjust the gap between the grinding wheel and the copper electrode wheel, and control the jet flow rate of the discharge medium between the two wheels so that a stable thin liquid layer is covered on the outer surface of the grinding wheel to be repaired.

[0013] Step 5: Set the laser dressing parameters and electrical discharge parameters. The laser is tangentially incident on the grinding wheel to be dressed. The laser and the copper electrode wheel move synchronously back and forth axially to achieve precise dressing of the entire working surface of the grinding wheel to be dressed.

[0014] Step 6: During the dressing process, adjust and control the feed amount in the Z direction of the laser to ensure that the focal area of ​​the laser irradiates the surface of the grinding wheel to be dressed. At the same time, set the feed amount of the copper electrode wheel. The dressing is stopped when there is no discharge between the two wheels.

[0015] Step 7: Move the dressing wheel into the CCD camera detection area and check the contour accuracy of the wheel; determine whether the contour accuracy detected by the computer detection software meets the requirements; if the accuracy requirements are not met, return to step 3; if the accuracy requirements are met, continue to step 8.

[0016] Step 8: Turn off the device and remove the grinding wheel that meets the accuracy requirements.

[0017] Compared to existing technologies, the advantages of this invention are as follows: By synergistically coupling laser plasma and discharge plasma, the laser plasma shielding effect is avoided, the electrical spark discharge effect is enhanced, and the dressing efficiency and accuracy are effectively improved. Furthermore, the scouring of the discharge medium caused by the composite plasma impact reduces the thermal damage layer of the abrasive grains and the recast bond layer. The entire dressing process is free of mechanical forces and can controllably remove superhard abrasive grains and binders, making it suitable for precision dressing of metal-based superhard abrasive wheels. Therefore, this laser-induced plasma-enhanced electrical spark dressing method is an advanced dressing technology with great development potential and broad application prospects.

[0018] The purpose of this invention is to provide a simple, efficient, and high-precision method for dressing metal-bonded superhard abrasive wheels, solving the technical problem that current dressing methods struggle to balance dressing efficiency and precision. The key feature of this invention is the simultaneous shaping and sharpening of the metal-bonded superhard abrasive wheel, achieving precise dressing of the wheel with a good surface morphology and excellent grinding performance. Attached Figure Description

[0019] Figure 1 This is a schematic diagram illustrating the principle of laser-induced plasma in this invention.

[0020] Figure 2 This is a schematic diagram illustrating the electric spark discharge principle of the present invention;

[0021] Figure 3 This is a schematic diagram illustrating the principle of laser-induced plasma enhanced electrical spark trimming in this invention.

[0022] Figure 4 This is a schematic diagram of the structure of the laser-induced plasma enhanced electric spark trimming device of the present invention;

[0023] Figure 5 This is a partial structural schematic diagram of the laser-induced plasma enhanced electrical spark trimming device of the present invention (after removing the laser part);

[0024] Figure 6 This is a flowchart of the laser-induced plasma enhanced electrical spark trimming process of the present invention;

[0025] In the diagram: 1. Backlight, 2. Grinding wheel to be repaired, 3. Spindle I, 4. W-axis moving platform, 5. P-axis moving platform, 6. CCD camera, 7. Laser ablation head, 8. Nozzle, 9. Y-axis moving platform, 10. Z-axis moving platform, 11. Computer, 12. Laser generator, 13. Discharge medium tank, 14. Flow control valve, 15. Discharge power supply, 16. V-axis moving platform, 17. U-axis moving platform, 18. Lathe tool, 19. Spindle II, 20. Copper electrode wheel, 21. X-axis moving platform, 22. Recovery tank, 23. Machine base, 24. Servo motor I, 25. Coupling I, 26. Servo motor II, 27. Coupling II. Detailed Implementation

[0026] It should be noted that, unless otherwise specified, the embodiments and features described in the present invention can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0027] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. In the description of the present invention, it should be understood that directional terms such as "front, back, up, down, left, right," "horizontal, vertical, horizontal," and "top, bottom," etc., indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description. Unless otherwise stated, these directional terms do not indicate or imply that the device or element referred to must have a specific orientation or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation on the scope of protection of the present invention. The directional terms "inner" and "outer" refer to the inner and outer contours relative to the outline of each component itself.

[0028] like Figure 4 and Figure 5 As shown, the present invention provides a laser-induced plasma-enhanced electrical discharge dressing device for metal-bonded superhard abrasive wheels, including a base 23, a wheel to be dressed 2, a copper electrode wheel 20, a laser ablation head 7, a discharge power supply 15, a CCD camera 6, a backlight 1, a nozzle 8, a cutting tool 18, and a computer 11.

[0029] This embodiment provides a laser-induced plasma-enhanced electrical discharge dressing method for metal-bonded superhard abrasive wheels. The grinding wheel 2 to be dressed and the copper electrode wheel 20 are mounted at the same height. A U-axis moving platform 17 controls the feed of the copper electrode wheel, and a flow control valve 14 monitors the jet flow rate of the discharge medium between the two wheels. The laser ablation head 7 and the copper electrode wheel 20 synchronously reciprocate along the axial direction of the grinding wheel 2 to achieve precise dressing of the entire working surface of the grinding wheel.

[0030] The grinding wheel 2 to be repaired is mounted on the spindle 3. The spindle 3 is connected to the servo motor I 24 via the coupling 25. The servo motor I 24 is connected to the computer 11 via a cable. The computer 11 controls the servo motor I 24.

[0031] The CCD camera 6 is placed on the left side of the dressing device. The backlight 1 and the CCD camera 6 are positioned opposite each other in the vertical Z direction. The position of the grinding wheel 1 to be dressed can be adjusted by moving the X-axis, and the position of the CCD camera 6 can be adjusted by moving the W-axis platform 4 and the P-axis platform 5, so as to adapt to the contour inspection of grinding wheels with different outer diameters. The CCD camera 6 is connected to the computer 11 via a cable.

[0032] Computer 11 starts servo motors I 24 and II 26, driving the grinding wheel 2 and copper electrode wheel 20 to rotate at a given speed. The laser ablation head 7 adjusts its position via Y-axis moving platform 9 and Z-axis moving platform 10 to ensure that the laser is tangentially incident on the grinding wheel 1. The discharge energy for dressing is provided by a high-frequency pulsed DC discharge power supply 15. The positive discharge terminal is connected to the grinding wheel 2, and the negative discharge terminal is connected to the copper electrode wheel 20. During the dressing process, the discharge medium is controlled by the flow control valve 14 to control the spray flow of the nozzle 8, so that a thin liquid film is formed on the surface of the grinding wheel. All discharge medium is recovered through the collection tank 22. The collected waste liquid can be reused after filtration and purification.

[0033] After dressing, the outer edge of the grinding wheel to be dressed is moved directly below the lens of the CCD camera 6. The computer 11 starts the servo motor 24, which drives the grinding wheel to be dressed 2 to rotate at a given speed. The backlight 1 and the CCD camera 6 are started to capture the contour features and surface morphology of the grinding wheel to be dressed. The computer 11 processes and analyzes the edge contour morphology information of the grinding wheel to be dressed 2, compares it with the grinding wheel contour accuracy requirements optimized according to the work requirements, calculates the contour error, performs real-time compensation, and automatically generates a CNC program for compensating the dressing trajectory.

[0034] like Figure 6 As shown, the present invention also provides a laser-induced plasma-enhanced electrical discharge dressing method for metal-bonded superhard abrasive wheels, comprising the following steps:

[0035] Step 1: Install the grinding wheel 2 to be repaired on the spindle 3, and install the copper electrode wheel 20 on the spindle 19, ensuring the installation accuracy of the grinding wheel 2 to be repaired and the copper electrode wheel 20;

[0036] Step 2: The position of the CCD camera 6 is controlled by the W-axis moving platform 4 and the P-axis moving platform 5 to detect the contour accuracy of the grinding wheel 2 to be repaired; the grinding wheel 2 to be repaired rotates at a certain speed at a constant speed, and the CCD camera 6 acquires the image of the repair quality of the working surface of the grinding wheel and transmits it to the computer 11. The computer feeds back the surface morphology and contour accuracy of the repaired grinding wheel based on the image captured by the CCD camera 6, and outputs control commands according to the contour error of the grinding wheel to adjust the repair processing parameters, so as to achieve efficient, high-precision and low-damage repair of the grinding wheel 2 to be repaired.

[0037] Step 3: Machining the copper electrode wheel 20. Use a lathe tool 18 to machine the outer contour of the copper electrode wheel 20.

[0038] Step 4: Adjust the relative position between the copper electrode wheel 20 and the grinding wheel 2 to be repaired by moving the U-axis platform 17 and the V-axis platform 16. The discharge medium between the two wheels is controlled by the flow control valve 14 to control the spray flow of the nozzle 8. When repairing, first open the flow control valve 14 so that a stable thin liquid layer is covered on the outer surface of the grinding wheel to be repaired.

[0039] Step 5: Set the laser finishing parameters and the electric spark discharge parameters, and start the laser-induced plasma enhanced electric spark finishing test. The magnitude of the laser energy emitted from the laser ablation head 7 is controlled by the laser generator 12. The position of the laser ablation head 7 is adjusted by the Y-axis moving platform 9 and the Z-axis moving platform 10 to ensure that the laser focal area is tangentially incident on the grinding wheel 2 to be finished. The laser ablation head 7 and the copper electrode wheel 20 move back and forth synchronously along the axial direction of the grinding wheel 2 to be finished, so as to achieve precise finishing of the entire working surface of the grinding wheel 2.

[0040] Step 6: Set the feed amount of the copper electrode wheel 20 in the U direction. After feeding to the appropriate position and there is no discharge between the two wheels, stop the adjustment and turn off the laser generator 12 and the discharge power supply 15.

[0041] Step 7: Return to Step 2 to check the profile accuracy of the grinding wheel 2 to be repaired. The computer 11 detection software analyzes whether the profile accuracy of the grinding wheel meets the processing requirements. If the accuracy requirements are not met, return to Step 3; if the accuracy requirements are met, continue to Step 8.

[0042] Step 8: Turn off the dressing device and remove the grinding wheel 2 that meets the accuracy requirements.

[0043] Finally, it should be noted that the above specific embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. They provide a detailed description of the specific implementation of the present invention, but the content described is only a preferred embodiment created by the present invention and should not be considered as limiting the scope of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. The above description of at least one exemplary embodiment is merely illustrative and is in no way intended to limit the present invention or its application or use. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention. Those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications and substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A laser-induced plasma-enhanced electrical discharge dressing device for superhard abrasive wheels, characterized in that, The dressing device includes a backlight (1), a grinding wheel to be dressed (2), a spindle I (3), a W-axis moving platform (4), a P-axis moving platform (5), a CCD camera (6), a laser ablation head (7), a nozzle (8), a Y-axis moving platform (9), a Z-axis moving platform (10), a computer (11), a laser generator (12), a discharge medium tank (13), a flow control valve (14), a discharge power supply (15), a V-axis moving platform (16), a U-axis moving platform (17), a cutting tool (18), a spindle II (19), a copper electrode wheel (20), an X-axis moving platform (21), a recovery tank (22), a machine base (23), a servo motor I (24), a coupling I (25), a servo motor II (26), and a coupling II (27). The laser emitted by the laser ablation head (7) tangentially irradiates the surface of the grinding wheel to be repaired, and the material is ablated and removed by controlling the focal area of ​​the laser on the Y-axis moving platform (9) and the Z-axis moving platform (10). The copper electrode wheel (20) is connected to the negative terminal of the high-frequency pulse discharge power supply (15), and the grinding wheel to be repaired (2) is connected to the positive terminal of the high-frequency pulse discharge power supply (15). The copper electrode wheel (10) is fed to the grinding wheel to be repaired (2) through the U-direction moving platform (17) and the V-direction moving platform (16). After maintaining a certain gap between the copper electrode wheel (20) and the grinding wheel to be repaired (2), the discharge medium is sprayed to achieve discharge. The center position of the laser ablation head (7) and the position of the copper electrode wheel (10) are matched on the same axial position of the grinding wheel to be repaired. The synchronous axial feed reciprocating motion ensures that the entire working surface of the grinding wheel (2) to be repaired is dressed. The real-time detection of the morphology trimming process of the grinding wheel (2) to be repaired is achieved by a combination of CCD camera (6), backlight (1), computer (11), etc. The method includes the following steps: Step 1: Ensure the installation accuracy of the grinding wheel (2) and the copper electrode wheel (20) to be repaired; Step 2: Move the grinding wheel to be repaired into the detection area of ​​the CCD camera (6) to detect the contour accuracy of the grinding wheel (2); the CCD camera (6) takes a picture of the topography of the outer surface of the grinding wheel (2) and transmits it to the computer (11). The analysis software configured on the computer (11) processes the picture taken by the CCD camera (6) to obtain the contour accuracy and surface morphology distribution of the grinding wheel (2), and provides feedback on the contour error of the grinding wheel (2). Adjust the laser dressing parameters and the electric spark discharge parameters to dress the grinding wheel. Step 3: Use a lathe tool (18) to machine the outer contour of the copper electrode wheel; Step 4: Move the grinding wheel (2) to be repaired into the dressing area, adjust the gap between the grinding wheel (2) to be repaired and the copper electrode wheel (20), control the jet flow rate of the discharge medium between the two wheels, so that a stable thin liquid layer is covered on the outer surface of the grinding wheel (2); Step 5: Set the laser dressing parameters and the electrical discharge parameters. The laser is tangentially incident on the grinding wheel to be dressed. The laser and the copper electrode wheel (20) move synchronously back and forth in the axial direction to achieve precise dressing of the entire working surface of the grinding wheel (2). Step 6: During the dressing process, adjust the feed amount of the laser ablation head (7) in the Z direction to ensure that the focal area of ​​the laser irradiates the surface of the grinding wheel to be dressed. At the same time, set the feed amount of the copper electrode wheel (20). The dressing is stopped when there is no discharge between the two wheels. Step 7: Move the grinding wheel (2) to be repaired into the detection area of ​​the CCD camera (6) and detect the contour accuracy of the grinding wheel (2); determine whether the contour accuracy detected by the computer (11) detection software meets the requirements; if the accuracy requirements are not met, return to step 3; if the accuracy requirements are met, continue to step 8. Step 8: Turn off the device and remove the grinding wheel (2) that meets the accuracy requirements.

2. The method for laser-induced plasma-enhanced electrical discharge dressing of superhard abrasive wheels according to claim 1, characterized in that, In steps 4 and 5, the CCD camera (6) can capture the dressing profile of the grinding wheel (2) to be dressed in real time, and the computer (11) detection software can perform matching analysis between the dressing profile and the standard profile to determine the profile error of the grinding wheel (2) to be dressed.

3. The method for laser-induced plasma-enhanced electrical discharge dressing of superhard abrasive wheels according to claim 1, characterized in that, The discharge medium ejected from the nozzle (8) is atomized deionized water.

4. The method for laser-induced plasma-enhanced electrical discharge dressing of superhard abrasive wheels according to claim 1, characterized in that, The laser source emitted by the laser generator (12) is a nanosecond pulse laser.

5. The method for laser-induced plasma-enhanced electrical discharge dressing of superhard abrasive wheels according to claim 1, characterized in that, The discharge power supply (15) is a microsecond-level high-frequency pulse power supply.

6. The method for laser-induced plasma-enhanced electrical discharge dressing of superhard abrasive wheels according to claim 1, characterized in that, The entire dressing process of the superhard abrasive grinding wheel (2) is automatically controlled by writing a CNC program.

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