CN113182669A - Method and device for laser welding position indication - Google Patents
Method and device for laser welding position indication Download PDFInfo
- Publication number
- CN113182669A CN113182669A CN202110305828.8A CN202110305828A CN113182669A CN 113182669 A CN113182669 A CN 113182669A CN 202110305828 A CN202110305828 A CN 202110305828A CN 113182669 A CN113182669 A CN 113182669A
- Authority
- CN
- China
- Prior art keywords
- laser
- welded
- working head
- line
- linear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23K—SOLDERING OR UNSOLDERING; WELDING; CLADDING OR PLATING BY SOLDERING OR WELDING; CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING; WORKING BY LASER BEAM
- B23K26/00—Working by laser beam, e.g. welding, cutting or boring
- B23K26/02—Positioning or observing the workpiece, e.g. with respect to the point of impact; Aligning, aiming or focusing the laser beam
- B23K26/03—Observing, e.g. monitoring, the workpiece
- B23K26/032—Observing, e.g. monitoring, the workpiece using optical means
Abstract
A method and apparatus used for laser welding position indication, said method comprises debugging process and teaching process, adjust the laser working head to the working distance in the course of debugging, then adjust the emission angle of the laser launcher of three lines, make three linear laser that launch intersect in a point, the intersection point coincides with facula on the test panel of laser beam that the laser working head launches; in the teaching process, the distance and the relative position between the laser working head and the surface to be welded are adjusted, so that three linear lasers on the surface to be welded are intersected at the center of a path to be welded on the surface to be welded, the intersection point is a corresponding welding position, and then a plurality of welding positions on the path to be welded are sequentially taught; the indicating device used in the method comprises a fixing device sleeved on the laser working head, and a first line laser transmitter, a second line laser transmitter and a third line laser transmitter which are uniformly distributed on the cylindrical surface of the fixing device. The invention improves the teaching efficiency of laser welding and has wide application range.
Description
Technical Field
The invention belongs to the field of metal material welding, and particularly relates to a method and a device for laser welding position indication.
Background
Laser welding is one of the most popular and concerned welding methods in today's society, and usually requires a certain working distance before laser welding, and performs weld line centering according to an indication light. Laser welding's welding speed is fast, and welding efficiency is high, but is higher to teaching precision requirement, and the teaching flow is comparatively loaded down with trivial details, especially to the welding task of small batch, multiple type, every welding seam all needs artifical independent teaching, leads to welding preceding teaching time long, and teaching efficiency before welding is the important factor that influences whole welding flow efficiency. At present, the method of additional paraxial guide light is adopted to assist the indication of the defocusing amount, and although the teaching efficiency is improved to a certain extent, the teaching efficiency is limited to a certain extent: 1. for a multi-purpose laser welding device, the indicating light brightness of each laser welding head is low, and the laser welding heads are difficult to observe; 2. the relative positions of the two beams of point laser are adopted to indicate the defocusing amount, so that the definition is poor; 3. when a large defocus amount is used, the laser beam is dispersed more seriously, which results in an increase in teaching deviation.
Disclosure of Invention
The invention aims to provide a method and a device for indicating a laser welding position, wherein three beams of uniformly distributed linear laser are adopted for indicating the welding position, the device can emit three beams of linear laser from three positions, the distance from the device to a surface to be welded is adjusted, when the three beams of linear laser are intersected at one point, the height is the set working distance, and the intersection point position is the welding position, so that the teaching efficiency of laser welding is improved, and the device has a wide application range.
In order to achieve the purpose, the invention adopts the technical scheme that: a method for laser welding position indication comprises a debugging process and a teaching process;
the debugging process is as follows: sleeving a cylindrical fixing device at the lower end of a laser working head to ensure that the bottom surface of the fixing device is vertical to a laser beam emitted by the laser working head, and uniformly fixing three line laser emitters on the same height of the cylindrical surface of the fixing device along the circumferential direction of the fixing device; then, opening three linear laser transmitters, and determining that three linear lasers can be observed on a test plate below the transmitters; then adjusting the distance between the laser working head and the test board to enable the distance to be equal to the working distance required by the process, and then adjusting the emission angles of the three line laser emitters until three line lasers emitted by the three line laser emitters intersect at one point on the test board, and the intersection point position coincides with a light spot of a laser beam emitted by the laser working head on the test board, so as to finish debugging of the three line laser emitters;
the teaching process is as follows: firstly, placing a workpiece to be welded at the position of the test board, opening three linear laser transmitters, and observing that three linear lasers are formed on the surface to be welded; then, adjusting the distance and the relative position between the laser working head and the surface to be welded until the three linear lasers on the surface to be welded intersect at the center of the path to be welded on the surface to be welded, wherein the intersection point is the corresponding welding position, and the distance between the laser working head and the surface to be welded is the working distance; and finally, repeating the operation of the previous step, and sequentially teaching a plurality of welding positions on the path to be welded.
In the teaching process, the more irregular the path to be welded is, the more welding positions are taught.
After the teaching process is finished, an idle walking test is carried out, three linear lasers are required to be intersected at one point on the whole path to be welded, the intersection point is always in the center of the path to be welded, if a certain section has deviation, a new teaching point is required to be inserted into the deviation section, and the teaching of the welding position is carried out according to the teaching process.
In the teaching process, when the three linear lasers are intersected or not intersected in pairs, if any linear laser on the surface to be welded and the corresponding linear laser transmitter are positioned at two sides of the laser beam emitted by the laser working head, the actual distance between the laser working head and the surface to be welded is larger than the working distance; if any linear laser on the surface to be welded and the corresponding linear laser emitter are positioned at the same side of the laser beam emitted by the laser working head, the actual distance between the laser working head and the surface to be welded is smaller than the working distance.
A device for laser welding position indication, which is used for the method for laser welding position indication and comprises a fixing device, a first line laser emitter, a second line laser emitter and a third line laser emitter; the fixing device is fixedly sleeved on the laser working head for laser welding and moves along with the movement of the laser working head, and the bottom surface of the fixing device is vertical to a laser beam emitted by the laser working head; the fixing device is provided with a cylindrical surface, and the first line laser transmitter, the second line laser transmitter and the third line laser transmitter are uniformly arranged on the cylindrical surface along the circumferential direction.
The first line laser transmitter, the second line laser transmitter and the third line laser transmitter adopt line laser which can be seen by naked eyes.
The first line laser transmitter, the second line laser transmitter and the third line laser transmitter are positioned at the same horizontal height, the height deviation is less than or equal to 3mm, and the angle deviation between every two laser transmitters is less than or equal to 5 degrees.
The invention has the beneficial effects that: the invention adopts three linear lasers to indicate the welding position, and can determine the working distance and the focusing position by adjusting the relative positions of the three linear lasers irradiated on the surface to be welded. The adopted linear laser has high brightness and good definition, and is beneficial to observation and teaching of operators. By observing the relative positions of the three linear lasers, the working distance can be adjusted, the focusing position can be adjusted, and the teaching efficiency is greatly improved. The device of the invention adopts the external line laser transmitter to provide a laser light source, thus being capable of being used under the conditions of no indicating light, weak indicating light brightness and large defocusing amount indicating light divergence. The device can be used for various welding forms such as butt joint, lap joint, angle joint and the like, is suitable for various groove forms such as V-shaped, I-shaped, U-shaped and the like, and has wide application range.
Drawings
FIG. 1 is a schematic view of the indicating device of the present invention;
FIG. 2 is a schematic diagram showing the relative positions of three linear lasers in the first case;
FIG. 3 is a diagram showing the relative positions of three linear lasers in a second case;
FIG. 4 is a schematic diagram showing the relative positions of three linear lasers after the teaching is completed;
the labels in the figure are: 1. the laser welding device comprises a first linear laser emitter, a second linear laser emitter, a third linear laser emitter, a fixing device, a laser beam, a first linear laser, a second linear laser, a third linear laser, a light spot and a surface to be welded, wherein the first linear laser emitter is 2, the second linear laser emitter is 3, the third linear laser emitter is 4, the fixing device is 5, the laser beam is 6, the first linear laser is 7, the second linear laser is 8, the third linear laser is 9, the light spot is 10, and the surface to be welded is formed.
Detailed Description
The present invention will be described in further detail with reference to the following drawings and examples, but the invention is not limited thereto.
Referring to fig. 1, an apparatus for indicating a laser welding position includes a fixing device 4, a first line laser transmitter 1, a second line laser transmitter 2, and a third line laser transmitter 3; the fixing device 4 is cylindrical, a through hole is formed in the middle of the fixing device, and the fixing device is fixedly sleeved on a laser working head for laser welding through the through hole, so that the normal work of the laser working head is guaranteed. The fixing device 4 can move along with the movement of the laser working head, and the bottom surface of the fixing device 4 is vertical to a laser beam 5 emitted by the laser working head; the fixing device 4 is provided with a cylindrical surface, the first line laser transmitter 1, the second line laser transmitter 2 and the third line laser transmitter 3 are uniformly arranged on the cylindrical surface along the circumferential direction, namely, the included angle between any two line laser transmitters is 120 degrees, the allowable angle deviation is less than or equal to 5 degrees, the three line laser transmitters are preferably arranged on the same horizontal plane, and the height deviation of the three line laser transmitters is less than or equal to 3 mm.
The first line laser transmitter 1, the second line laser transmitter 2 and the third line laser transmitter 3 adopt line laser visible to naked eyes, preferably red light with the wavelength of 650nm, so as to be convenient for observation, and the requirements for the line laser are as follows: the line width of the linear laser irradiated at the height of 300mm is less than 1mm, and the length is 40-80 mm.
The method for indicating the laser welding position by adopting the device comprises a debugging process and a teaching process, wherein the debugging process is mainly used for determining the emission angles of the three line laser transmitters at a set working distance, and the teaching is carried out on the welding position on the to-be-welded path of the surface to be welded by taking the emission angles as the standard so as to determine the actual working height of the laser working head corresponding to the welding position.
In the debugging process, firstly, the fixing device 4 needs to be fixedly connected to the lower end of the laser working head, the normal work of the laser working head is ensured, the bottom surface of the fixing device 4 is determined to be vertical to a laser beam 5 emitted by the laser working head, and then the first line laser emitter 1, the second line laser emitter 2 and the third line laser emitter 3 are uniformly fixed on the cylindrical surface of the fixing device 4 along the circumferential direction of the fixing device 4; then, the first line laser transmitter 1, the second line laser transmitter 2 and the third line laser transmitter 3 are turned on, and the first line laser 6, the second line laser 7 and the third line laser 8 can be observed on a test board below; and then adjusting the distance between the laser working head and the test board according to the working distance required by the process to enable the distance to be equal to the preset working distance, then adjusting the emission angles of the first line laser emitter 1, the second line laser emitter 2 and the third line laser emitter 3 until the first line laser emitter 1, the second line laser emitter 2 and the third line laser emitter 3 emit first line laser 6, second line laser 7 and third line laser 8 which intersect at one point on the test board, and the intersection point position coincides with a spot 9 of a laser beam 5 emitted by the laser working head on the test board, thereby completing the debugging of the three line laser emitters.
In the teaching process, firstly, a workpiece to be welded is placed at the position of the test board, the first line laser emitter 1, the second line laser emitter 2 and the third line laser emitter 3 are turned on, and the first line laser 6, the second line laser 7 and the third line laser 8 are observed to be formed on the surface 10 to be welded of the workpiece; then, adjusting the distance from the laser working head to the surface to be welded 10 until the first linear laser 6, the second linear laser 7 and the third linear laser 8 on the surface to be welded 10 intersect at the center of the path to be welded on the surface to be welded 10, as shown in fig. 4, the intersection point at this time is the corresponding welding position, and the distance from the laser working head to the surface to be welded 10 is the working distance of the laser working head at this time; and finally, repeating the operation of the previous step, and sequentially teaching a plurality of welding positions on the path to be welded.
Specifically, in the teaching process, when three linear lasers are intersected or not intersected in pairs, as shown in fig. 3, if any linear laser on the surface to be welded 10 and the corresponding linear laser emitter are located on two sides of a laser beam emitted by the laser working head, it is indicated that the distance between the laser working head and the surface to be welded 10 is greater than the working distance, and therefore the distance between the laser working head and the surface to be welded needs to be reduced to reach the working distance; as shown in fig. 2, if any linear laser on the surface to be welded and the corresponding linear laser emitter are located on the same side of the laser beam emitted by the laser working head, it means that the distance between the laser working head and the surface to be welded is smaller than the working distance, and therefore the distance between the laser working head and the surface to be welded needs to be further increased to reach the working distance.
Furthermore, after the teaching process is finished, the idle walking test is required to be performed, three linear lasers are required to be intersected at one point on the whole path to be welded, the intersection point is always at the center of the path to be welded, if a certain section has deviation, a new teaching point is required to be inserted into the deviation section, and the teaching of the welding position is performed according to the teaching process.
Next, a specific teaching procedure will be described by taking an example of an I-type welding groove.
Firstly, adjusting a movement mechanism of a laser welding machine to enable the position between a laser working head and a workpiece to be welded to be approximately close to a working distance H and a welding position determined in a debugging stage; then opening three linear laser transmitters, and observing three linear lasers formed near the to-be-welded I-shaped groove; when the three linear lasers and the corresponding linear laser transmitters are positioned at the same side of the welding position, and the three linear lasers are intersected or not intersected in pairs, the distance H from the laser working head to the welding surface at the moment is smaller than the working distance H, so that the laser working head or a workpiece to be welded is slowly moved, the distance H from the laser working head to the welding surface is gradually increased until the three linear lasers are intersected at one point; when the three linear lasers and the corresponding linear laser transmitters are positioned on two opposite sides of the welding position, and the three linear lasers are intersected or not intersected in pairs, the distance H from the laser working head to the welding surface at the moment is larger than the working distance H, so that the laser working head or a workpiece to be welded is slowly moved, and the distance H from the laser working head to the welding surface is gradually reduced until the three linear lasers are intersected at one point; after the three linear lasers are intersected at one point, the laser working head or the workpiece to be welded is horizontally moved, so that the intersection point of the three linear lasers is positioned at the welding position, and the position of the laser working head at the moment is written into a movement mechanism control system of the laser welding machine, so that the teaching of the welding position can be completed. According to the method, teaching of other points on the path to be welded is completed in sequence, then the line laser generator can be closed, and the teaching is completed.
The above embodiments are only intended to illustrate the technical solution of the present invention and not to limit the same, and it should be understood by those of ordinary skill in the art that the specific embodiments of the present invention can be modified or substituted with equivalents with reference to the above embodiments, and any modifications or equivalents without departing from the spirit and scope of the present invention are within the scope of the claims to be appended.
Claims (7)
1. A method for laser welding position indication is characterized by comprising a debugging process and a teaching process;
the debugging process is as follows: sleeving a cylindrical fixing device at the lower end of a laser working head to ensure that the bottom surface of the fixing device is vertical to a laser beam emitted by the laser working head, and uniformly fixing three line laser emitters on the same height of the cylindrical surface of the fixing device along the circumferential direction of the fixing device; then, opening three linear laser transmitters, and determining that three linear lasers can be observed on a test plate below the transmitters; adjusting the distance between the laser working head and the test board to enable the distance to be equal to the working distance required by the process, and then adjusting the emission angles of the three line laser emitters until three line lasers emitted by the three line laser emitters intersect at one point on the test board, and the intersection point position coincides with a light spot of a laser beam emitted by the laser working head on the test board, so that the three line laser emitters are debugged;
the teaching process is as follows: firstly, placing a workpiece to be welded at the position of the test board, opening three linear laser transmitters, and observing that three linear lasers are formed on the surface to be welded; then, adjusting the distance and the relative position between the laser working head and the surface to be welded until the three linear lasers on the surface to be welded intersect at the center of the path to be welded on the surface to be welded, wherein the intersection point is the corresponding welding position, and the distance between the laser working head and the surface to be welded is the working distance; and finally, repeating the operation of the previous step, and sequentially teaching a plurality of welding positions on the path to be welded.
2. A method for laser welding position indication according to claim 1, characterized in that the more irregular the path to be welded, the more welding positions are taught during the teaching.
3. The method for indicating the laser welding position according to claim 1, wherein after the teaching process is finished, a lost motion test is performed, the three linear lasers are required to be intersected at one point on the whole path to be welded, the intersection point is always at the center of the path to be welded, if a certain section has deviation, a new teaching point is required to be inserted into the deviation section, and the teaching of the welding position is performed according to the teaching process.
4. The method for indicating the laser welding position according to claim 1, wherein in the teaching process, when two of the three linear lasers are intersected or not intersected, if any linear laser on the surface to be welded and a corresponding linear laser transmitter are positioned at two sides of a laser beam emitted by a laser working head, the actual distance between the laser working head and the surface to be welded is larger than the working distance; if any linear laser on the surface to be welded and the corresponding linear laser emitter are positioned at the same side of the laser beam emitted by the laser working head, the actual distance between the laser working head and the surface to be welded is smaller than the working distance.
5. A device for laser welding position indication for a method of laser welding position indication according to claims 1-4, characterized by comprising a fixture, a first line laser emitter, a second line laser emitter and a third line laser emitter; the fixing device is fixedly sleeved on the laser working head for laser welding and moves along with the movement of the laser working head, and the bottom surface of the fixing device is vertical to a laser beam emitted by the laser working head; the fixing device is provided with a cylindrical surface, and the first line laser transmitter, the second line laser transmitter and the third line laser transmitter are uniformly arranged on the cylindrical surface along the circumferential direction.
6. The laser welding position indicator as recited in claim 5, wherein the first line laser transmitter, the second line laser transmitter, and the third line laser transmitter use line lasers that are visible to the naked eye.
7. The laser welding position indicator as claimed in claim 5, wherein the first line laser transmitter, the second line laser transmitter and the third line laser transmitter are at the same horizontal height, the height deviation is less than or equal to 3mm, and the angle deviation between every two is less than or equal to 5 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110305828.8A CN113182669A (en) | 2021-03-23 | 2021-03-23 | Method and device for laser welding position indication |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110305828.8A CN113182669A (en) | 2021-03-23 | 2021-03-23 | Method and device for laser welding position indication |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113182669A true CN113182669A (en) | 2021-07-30 |
Family
ID=76973589
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202110305828.8A Pending CN113182669A (en) | 2021-03-23 | 2021-03-23 | Method and device for laser welding position indication |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113182669A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114894103A (en) * | 2022-03-30 | 2022-08-12 | 湖北国际物流机场有限公司 | Ultrahigh ship detection system based on laser technology and detection method thereof |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007253200A (en) * | 2006-03-23 | 2007-10-04 | Nissan Motor Co Ltd | Laser welding equipment and laser focal position controlling method |
| CN101176952A (en) * | 2007-12-04 | 2008-05-14 | 深圳市星辰激光技术有限公司 | Auxiliary focusing mechanism of laser marking machine and use method thereof |
| CN201455548U (en) * | 2009-07-20 | 2010-05-12 | 北京工业大学 | Laser three-dimensional positioning device for laser processing system |
| CN102430859A (en) * | 2011-10-28 | 2012-05-02 | 北京新风机械厂 | Defocusing real time control method for laser welding |
| CN108213776A (en) * | 2016-12-15 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of contactless robotic laser welding teaching method |
| CN110405337A (en) * | 2019-08-08 | 2019-11-05 | 中车长春轨道客车股份有限公司 | Laser Welding defocusing amount instruction device and method based on additional paraxonic guidance light |
| CN211490081U (en) * | 2019-12-24 | 2020-09-15 | 浙江雷拉激光科技有限公司 | Simple laser welding focusing device |
-
2021
- 2021-03-23 CN CN202110305828.8A patent/CN113182669A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2007253200A (en) * | 2006-03-23 | 2007-10-04 | Nissan Motor Co Ltd | Laser welding equipment and laser focal position controlling method |
| CN101176952A (en) * | 2007-12-04 | 2008-05-14 | 深圳市星辰激光技术有限公司 | Auxiliary focusing mechanism of laser marking machine and use method thereof |
| CN201455548U (en) * | 2009-07-20 | 2010-05-12 | 北京工业大学 | Laser three-dimensional positioning device for laser processing system |
| CN102430859A (en) * | 2011-10-28 | 2012-05-02 | 北京新风机械厂 | Defocusing real time control method for laser welding |
| CN108213776A (en) * | 2016-12-15 | 2018-06-29 | 中国科学院沈阳自动化研究所 | A kind of contactless robotic laser welding teaching method |
| CN110405337A (en) * | 2019-08-08 | 2019-11-05 | 中车长春轨道客车股份有限公司 | Laser Welding defocusing amount instruction device and method based on additional paraxonic guidance light |
| CN211490081U (en) * | 2019-12-24 | 2020-09-15 | 浙江雷拉激光科技有限公司 | Simple laser welding focusing device |
Non-Patent Citations (1)
| Title |
|---|
| 戴凤智，乔栋: "《工业机器人技术基础及其应用》", 机械工业出版社, pages: 181 - 182 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN114894103A (en) * | 2022-03-30 | 2022-08-12 | 湖北国际物流机场有限公司 | Ultrahigh ship detection system based on laser technology and detection method thereof |
| CN114894103B (en) * | 2022-03-30 | 2023-10-10 | 湖北国际物流机场有限公司 | Ultrahigh ship detection system based on laser technology and detection method thereof |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101041204B (en) | Apparatus and method for performing laser welding | |
| US11612963B2 (en) | Laser cutting device including machining condition tables and laser cutting method thereof | |
| CN203566033U (en) | Automatic laser tin soldering machine | |
| US5245682A (en) | Fiber optic delivered beam quality control system for power lasers | |
| CN110722274B (en) | Laser cutting equipment | |
| CN113182669A (en) | Method and device for laser welding position indication | |
| CN109954968B (en) | Laser focus positioning device and method | |
| CN108890666A (en) | A kind of robot welding welding seam tracking method and system | |
| CN106181026A (en) | Focal position in a kind of Laser Processing determines equipment, method and device | |
| CN107584211A (en) | A kind of high power laser welding system and its welding method based on high-velocity scanning galvanometer | |
| CN110548990B (en) | Light beam control method and system for laser welding of precise structural part of power battery | |
| US5484982A (en) | Beam axis adjusting method for a laser robot | |
| CN2392979Y (en) | Calibration lamp for automatic welding | |
| CN107999959A (en) | A kind of hand-held laser welding apparatus and its welding method | |
| KR20070058748A (en) | Laser welding and cutting head assembly | |
| CN107442933A (en) | Welding system and welding method | |
| JP5741417B2 (en) | Laser processing robot system | |
| JP2006281304A (en) | Laser welding equipment, laser welding system, and laser welding method | |
| KR100770944B1 (en) | Apparatus and method of inner-strap welding of spacer grids using laser tool and spacer manufactured by the same | |
| CN113953661A (en) | Laser repair welding machine and repair welding method thereof | |
| CN207372497U (en) | A kind of high power laser welding system based on high-velocity scanning galvanometer | |
| US6854191B2 (en) | Alignment laser projection system | |
| CN207971566U (en) | A kind of adapter spot welding device of laser | |
| CN213289038U (en) | Laser lens device with guide light source | |
| JPS6238787A (en) | Inner bore welding method |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |