Selective laser glue cleaning and overflowing control system based on visual detection

Abstract

The invention discloses a visual detection-based selective laser excessive glue cleaning control system, which generates excessive glue mapping data through visual detection and selectively and accurately removes excessive glue through a laser control system, so that the excessive glue cleaning efficiency is effectively improved, the product production quality is ensured, the resource waste is reduced, and energy conservation and emission reduction are realized. A conveying belt arranged along the Y axis is arranged, a feeding station, a visual inspection station, a laser overflowing glue removing station and a discharging station are preset on the conveying belt, a feeding module is arranged in front of the feeding station, a discharging module is arranged behind the discharging station, a carrying table is arranged on the conveying belt, and a discharging module is arranged behind the carrying table. A plurality of sets of feeding clips are arranged below the X-axis coverage area direction of the feeding module, a plurality of sets of discharging clips are arranged below the X-axis coverage area direction of the discharging module, and the whole control system comprises a motion control system, a visual detection system and a laser control system.

Description

Technical Field

[0001] The invention relates to the technical field of semiconductor integrated circuit packaging, and in particular to a selective laser overflow glue cleaning control system based on visual detection. Background Art

[0002] In the semiconductor integrated circuit packaging plastic encapsulation process, due to the gap between the lead frame and the plastic encapsulation mold, when the hot melt plastic encapsulation material is squeezed under high pressure, some plastic encapsulation material will leak out from the gap and then solidify on the surface of the lead body to form black overflow glue. Some overflow material is due to the resin seepage of the plastic encapsulation body itself, forming a transparent film around the plastic encapsulation body. Both of the above are overflow glue, which needs to be completely removed to ensure the product quality of the subsequent electroplating process.

[0003] The existing technology for removing excess glue is to use laser to burn off all product particles on the lead frame without distinction, which not only poses a risk of product burns but also increases the burning time, and the efficiency of removing excess glue is low. As the integrated circuit plastic encapsulation process becomes more and more mature, the excess glue generated after the plastic encapsulation process continues to decrease. Currently, the common situation is that only a few or dozens of fixed positions in each product have a small amount of excess glue.

[0004] In view of this situation, it is urgent to develop a control system that can accurately remove overflow glue. Summary of the invention

[0005] In response to the above problems, the present invention provides a selective laser overflow glue cleaning control system based on visual detection, which generates overflow glue mapping data through visual detection, and selectively and accurately removes overflow glue through a laser control system, which not only effectively improves the overflow glue removal efficiency, but also ensures product production quality, while reducing resource waste, saving energy and reducing emissions.

[0006] A selective laser overflow glue cleaning control system based on visual inspection, characterized in that: a conveyor belt arranged along the Y axis is provided, a loading station, a visual inspection station, a laser overflow glue cleaning station, and a unloading station are preset on the conveyor belt, a loading module is provided in front of the loading station, a unloading module is provided behind the unloading station, a carrier is provided on the conveyor belt, a plurality of groups of loading clips are arranged below the X-axial coverage area direction of the loading module, and a plurality of groups of unloading clips are arranged below the X-axial coverage area direction of the unloading module:

[0007] The entire control system includes a motion control system, a visual inspection system and a laser control system, which are connected to each other for communication and data exchange through their respective communication protocols, and the host computer of the entire control system is connected to the central control MES system through the SECS / GEM protocol;

[0008] The motion control system is used to suck the lead frame placed in the loading clip to the conveying platform, convey it to the visual inspection position through the conveying platform, and then convey it to the laser glue overflow cleaning station by the conveyor belt. After the positioning motion control, the frame is positioned and the positioning is detected. After the laser glue overflow cleaning is completed, it is conveyed to the unloading station, and then the lead frame is sucked into the unloading clip;

[0009] The visual inspection system is used for visual image acquisition, visual direction detection and glue overflow detection. The visual direction detection is used to determine whether the lead frame feeding direction is correct. According to the direction detection result, the motion control system transmits the lead frame to the corresponding position. The glue overflow detection is used to perform CCD scanning inspection on the lead frame to generate glue overflow mapping data and send it to the laser control system.

[0010] The laser control system is used for the laser control software to generate a corresponding laser scanning path according to the overflow glue mapping data sent by the visual inspection system, and control the laser controller to emit light to burn the overflow glue at a fixed point.

[0011] It is further characterized by:

[0012] The laser overflow glue cleaning station is equipped with a laser mechanism, an overflow cleaning platform, and a positioning support plate;

[0013] The motion control system includes loading motion control, stage motion control, positioning motion control, and unloading motion control;

[0014] The feeding motion control includes feeding clip lifting control, feeding servo motor positioning control, and feeding suction cup suction / discharging control, which is used to suck the lead frame placed in the feeding clip onto the conveying platform or suck the lead frame with wrong visual direction detection into the wrong direction material box;

[0015] The stage motion control includes stage lifting control, stage vacuum suction control, and stage servo motor positioning control, which are used to control the loading motion and transfer the lead frame placed on the stage to different visual inspection positions;

[0016] The positioning motion control includes lifting control of the overflow cleaning platform, lifting control of the positioning support plate, and lifting control of the positioning blocking, which are used to position the lead frame that is transferred to the overflow cleaning area;

[0017] The unloading motion control includes unloading clip lifting control, unloading servo motor positioning control, unloading suction cup suction / discharging control, which is used to suck the lead frame that has been transferred to the unloading station after the overflow glue is removed and put it into the corresponding unloading clip, or suck the lead frame that has been visually inspected for overflow glue errors and random inspections and place them in the manual inspection box after the overflow glue is removed;

[0018] The motion control system adopts a motion controller plus a human-machine interactive touch screen. The motion controller communicates with the human-machine interface of the human-machine interactive touch screen through the Ethernet protocol, communicates with the servo driver through the EtherCAT protocol, and communicates with the sensor, speed regulating motor, solenoid valve, vacuum generator and visual detection system through the I / O input and output module;

[0019] The motion control system includes a manual mode and an automatic mode. In the manual mode, the human-machine interface can control the corresponding electrical components and other signals, and in the automatic mode, the system automatically controls the operation according to the signals such as the sensor and the servo position;

[0020] The visual inspection system includes an image acquisition system, an image inspection system and visual inspection software;

[0021] The equipment of the image acquisition system includes a dedicated light source, a linear array industrial camera, and an optical lens. The image acquisition system is used for collecting visual inspection images;

[0022] The image detection system includes an image processing algorithm and an image detection algorithm, and the image detection system is used for visual detection image analysis and obtaining results;

[0023] The visual inspection software is installed on the visual inspection industrial computer. The visual inspection software includes functions of template creation, visual teaching, parameter setting, and data communication. The visual inspection software includes direction detection and overflow detection. The direction detection is used to determine whether the feeding direction of the lead frame is correct. According to the direction detection result, the motion control system transmits the lead frame to the corresponding position; the overflow detection is used to perform CCD scanning on the lead frame to generate overflow mapping data on the lead frame and send it to the laser control system. The visual inspection software has the direction detection and overflow detection functions to enable and disable for selection;

[0024] The laser control system includes laser light output control and laser control software;

[0025] The laser light output control hardware includes a laser controller, a laser, a lens, and a laser module, and selectively outputs light at a fixed point to burn off the overflow glue according to the data of the laser control software;

[0026] The laser control software includes template creation and template positioning. The laser control software generates a corresponding laser scanning path according to the overflow glue mapping data sent by the visual inspection system, and controls the laser controller to emit light to burn off the overflow glue;

[0027] Preferably, the visual inspection station comprises a first visual inspection station and a second visual inspection station, and the first visual inspection station and the second visual inspection station are arranged in two side areas of the laser overflow glue cleaning station;

[0028] The motion control system absorbs the lead frame from the loading clip to the conveying platform, and the platform conveys it to each inspection position of the first visual inspection station. The visual inspection system first detects the direction of the lead frame. If the direction is wrong, the lead frame is placed in the wrong direction material box. If the direction is correct, the overflow detection is continued. After the detection is completed, the detection result is sent to the laser control system through the socket protocol. At the same time, the operation control system conveys the lead frame to the laser overflow cleaning area and positions it. Then, the laser control system performs laser scanning on the overflow glue area of ​​the lead frame according to the overflow glue detection result to remove the overflow glue. After the removal is completed, a secondary visual overflow glue detection is performed at the second visual inspection station. If the overflow glue is detected to be cleaned, the motion control system conveys the lead frame to the unloading clip. If the overflow glue is not detected to be cleaned, it is conveyed to the manual inspection material box.

[0029] The laser control system uses a double-headed high-power single-cavity laser and a set of laser control software. Based on the laser characteristics, the laser module can move left and right according to the planned path, and the laser emits light vertically during the laser ablation process;

[0030] The entire control system is suitable for lead frames within 300mm in length and 100mm in width. The parameters of motion control, visual inspection and laser control systems for different models of products are established in advance, and different models of products can be switched with one click by scanning the code or using the software.

[0031] The motion control system, visual inspection system and laser control system are all equipped with software operation, information management, operation records, emergency stop and fault alarms, which facilitate operators to operate and manage the system while ensuring the safety of operators. Operators can handle corresponding system faults and problems through alarm prompts.

[0032] Compared with the prior art, the present invention provides a selective laser overflow glue cleaning control system based on visual detection, which has the following beneficial effects:

[0033] (1) The visual inspection system includes direction inspection and glue overflow inspection. Both inspections share a set of optical hardware and inspection software, saving costs and space;

[0034] (2) The visual inspection system generates lead frame glue overflow mapping data through visual inspection, and selectively and accurately removes the glue overflow through the laser control system, removing only the detected glue overflow area. Compared with the existing technology of completely burning the lead frame with glue overflow areas without inspection through laser, it not only effectively improves the efficiency of removing glue overflow, but also ensures the quality of product production, while reducing resource waste, saving energy and reducing emissions;

[0035] (3) The laser control system uses dual lasers. Based on the characteristics of lasers, the laser module can move left and right according to the planned path to ensure that the laser always emits light vertically during the laser burning process, solving the problem of unclear removal of glue overflow on the edge pins of the lead frame or burning the frame in the non-glue overflow area;

[0036] (4) Users can set up parameters for motion control, visual inspection, and laser control systems for different models of products in advance, and can switch between different models of products with one click by scanning a code or using the software interface;

[0037] (5) The system host computer is connected to the central control MES system through the SECS / GEM protocol for data exchange, and has both remote and local control modes. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 It is a system topology diagram of the entire control system of the present invention;

[0039] Figure 2 It is a structural schematic diagram of a selective laser overflow glue cleaning control system based on visual detection applicable to the present invention;

[0040] Figure 3 It is a structural schematic diagram of a visual inspection system applicable to a selective laser overflow glue cleaning control system based on visual inspection of the present invention;

[0041] Figure 4 It is a structural schematic diagram of a laser control system applicable to a selective laser overflow glue cleaning control system based on visual detection of the present invention;

[0042] Figure 5 It is a control flow diagram of the present invention;

[0043] The names corresponding to the serial numbers in the figure are as follows:

[0044] Conveyor belt 10, loading station 11, first visual inspection station 12, laser glue overflow cleaning station 13, second visual inspection station 14, unloading station 15, loading module 20, unloading module 30, carrier 40, loading clip 50, unloading clip 60, laser mechanism 70, laser body 71, laser lens 72, laser moving module 73, overflow cleaning platform 80, positioning pallet 90, wrong direction material box 100, manual inspection material box 110, visual mechanism 120, light source 121, linear array industrial camera 122, optical lens 123, mounting bracket 124. DETAILED DESCRIPTION

[0045] A selective laser overflow glue cleaning control system based on visual detection, see Figure 1-Figure 4:It includes motion control system, visual inspection system and laser control system. The motion control system, visual inspection system and laser control system communicate and exchange data through their own communication protocols, and the host computer of the entire control system is connected to the central control MES system through SECS / GEM protocol;

[0046] The motion control system is used to suck the lead frame placed in the loading clip to the conveying platform, and then transfer it to the visual inspection position through the conveying platform, and then transfer it to the laser overflow glue cleaning station by the conveyor belt. After the positioning motion control, the frame is positioned and the positioning is completed. After the laser overflow glue cleaning is completed, it is transferred to the unloading station, and then the lead frame is sucked into the unloading clip;

[0047] The visual inspection system is used for visual image acquisition, visual direction detection and glue overflow detection. The visual direction detection is used to determine whether the lead frame feeding direction is correct. According to the direction detection result, the motion control system will transfer the lead frame to the corresponding position. The glue overflow detection is used to perform CCD scanning on the lead frame to generate glue overflow mapping data and send it to the laser control system.

[0048] The laser control system is used for the laser control software to generate the corresponding laser scanning path according to the overflow glue mapping data sent by the visual inspection system, and control the laser controller to emit light to burn off the overflow glue at a fixed point.

[0049] A structural diagram of a selective laser overflow cleaning control system based on visual detection, see Figure 2 :It includes a conveyor belt 10 arranged along the Y axis, and a loading station 11, a first visual inspection station 12, a laser overflow glue cleaning station 13, a second visual inspection station 14, and a unloading station 15 are preset on the conveyor belt 10. A loading module 20 is arranged in front of the loading station 11, and a unloading module 30 is arranged behind the unloading station 15. A carrier 40 is arranged on the conveyor belt 10, and a plurality of loading clips 50 are arranged below the X-axial coverage area direction of the loading adsorption module 30 group, and a plurality of unloading clips 60 are arranged below the X-axial coverage area direction of the unloading module 30:

[0050] The laser overflow cleaning station 13 is provided with a laser mechanism 70, an overflow cleaning platform 80, and a positioning support plate 90;

[0051] The entire structure also includes a mis-direction material box 100 and a manual inspection material box 110 .

[0052] The workflow is shown in Figure 2:The loading module 20 absorbs the lead frame in the loading clip 50, sucks the lead frame to the carrier 40, and transmits it to each inspection position of the first visual inspection station 12 by the carrier 40. The visual inspection system first detects the direction of the lead frame. If the direction is wrong, the lead frame is placed in the wrong direction material box 100. If the direction is correct, the overflow detection continues. After the detection is completed, the detection result is sent to the laser control system through the socket protocol. At the same time, the operation control system transmits the lead frame to the laser overflow glue cleaning station 13 and positions it. Then, the laser control system performs laser scanning on the overflow glue area of ​​the lead frame according to the overflow glue detection result to remove the overflow glue. After the removal is completed, a secondary visual overflow glue detection is performed at the second visual inspection station 14. If the overflow glue is detected to be cleaned, the motion control system transmits the lead frame to the unloading clip 60. If the overflow glue is not detected to be cleaned, it is transmitted to the manual inspection material box 110.

[0053] In specific implementation, the structure of the visual mechanism 120 of the visual inspection system of the first visual inspection station 12 and the second visual inspection station 14 is shown in FIG. Figure 4 , which includes a light source 121, a linear array industrial camera 122, an optical lens 123, and a mounting bracket 124, which takes a picture of the lead frame, and the visual inspection system software analyzes and judges the image through an algorithm to obtain the inspection result;

[0054] The structure of the laser mechanism 70 is shown in FIG. Figure 3 It includes a laser body 71, a laser lens 72, and a laser moving module 73. The laser moving module 73 can move left and right according to the planned path to ensure that the laser emits light vertically.

[0055] In specific implementation, the motion control system includes loading motion control, stage motion control, positioning motion control, and unloading motion control;

[0056] The feeding motion control includes the feeding clip lifting control, the feeding servo motor positioning control, and the feeding suction cup suction / discharging control, which is used to suck the lead frame placed in the feeding clip onto the conveying platform or suck the lead frame with wrong visual direction detection into the wrong direction material box;

[0057] The stage motion control includes stage lifting control, stage vacuum suction control, and stage servo motor positioning control, which are used to control the loading motion and transfer the lead frame placed on the stage to different visual inspection positions;

[0058] Positioning motion control includes lifting control of the overflow cleaning platform, lifting control of the positioning pallet, and lifting control of the positioning block, which are used to position the lead frame that is transferred to the overflow cleaning area;

[0059] The unloading motion control includes unloading clip lifting control, unloading servo motor positioning control, unloading suction cup suction / discharging control, which is used to suck the lead frame that has been transferred to the unloading station after the overflow glue is removed and put it into the corresponding unloading clip, or suck the lead frame that has been visually inspected for overflow glue errors and random inspections and place them in the manual inspection box after the overflow glue is removed;

[0060] The motion control system adopts the method of motion controller plus human-machine interactive touch screen. The motion controller communicates with the human-machine interface of the human-machine interactive touch screen through the Ethernet protocol, communicates with the servo driver through the EtherCAT protocol, and communicates with the sensor, speed regulating motor, solenoid valve, vacuum generator and visual inspection system through the I / O input and output module;

[0061] The motion control system includes manual mode and automatic mode. In manual mode, the human-machine interface can control the corresponding electrical components and other signals, while the automatic mode system automatically controls the operation according to signals such as sensors and servo positions.

[0062] The visual inspection system includes an image acquisition system, an image inspection system and visual inspection software;

[0063] The equipment of the image acquisition system includes a dedicated light source, a linear array industrial camera, and an optical lens. The image acquisition system is used to acquire visual inspection images;

[0064] The image detection system includes an image processing algorithm and an image detection algorithm. The image detection system is used for visual detection image analysis and obtaining results;

[0065] The visual inspection software is installed on the visual inspection industrial computer. The visual inspection software includes functions such as template creation, visual teaching, parameter setting, and data communication. The visual inspection software includes direction detection and overflow detection. The direction detection is used to determine whether the lead frame feeding direction is correct. According to the direction detection result, the motion control system transmits the lead frame to the corresponding position; the overflow detection is used to perform CCD scanning on the lead frame to generate overflow mapping data on the lead frame and send it to the laser control system. The visual inspection software has the direction detection and overflow detection functions to enable and disable for selection;

[0066] The laser control system includes laser light output control and laser control software;

[0067] The laser light output control hardware includes laser controller, laser, lens, laser module, and performs selective fixed-point light output to burn off the overflow glue according to the data of laser control software;

[0068] The laser control software includes template creation and template positioning. The laser control software generates the corresponding laser scanning path according to the overflow glue mapping data sent by the visual inspection system, and controls the laser controller to emit light to burn off the overflow glue;

[0069] The laser control system uses a double-headed high-power single-cavity laser and a set of laser control software. Based on the laser characteristics, the laser module can move left and right according to the planned path, and the laser emits light vertically during the laser ablation process;

[0070] The entire control system is suitable for lead frames within 300mm in length and 100mm in width. The parameters of motion control, visual inspection and laser control systems for different models of products are established in advance, and different models of products can be switched with one click by scanning the code or using the software.

[0071] The motion control system, visual inspection system and laser control system are all equipped with software operation, information management, operation records, emergency stop and fault alarms, which facilitate operators to operate and manage the system while ensuring the safety of operators. Operators can handle corresponding system faults and problems through alarm prompts.

[0072] See also Figure 5 The control process of the selective laser overflow glue cleaning control system based on visual detection in the present invention is as follows:

[0073] A. Through the feeding motion control, the lead frame to be cleaned of excess glue is placed in the lifting feeding clip, and the feeding module drives the feeding suction cup to cyclically take the material from the feeding clip and put it on the conveying platform;

[0074] B. The lead frame is transferred to the visual mechanism position of the first visual inspection station through the stage motion control, and the inspection light source is turned on at the same time to perform visual direction inspection on the lead frame;

[0075] C. After the direction detection in the above process B, if the direction is wrong, the lead frame is transferred to the wrong direction material box. If the direction is correct, the lead frame is visually inspected for glue overflow;

[0076] D. After the overflow detection in process C above, the visual software automatically generates mapping data of the lead frame area where the overflow needs to be cleared, and sends it to the laser control system through the socket protocol;

[0077] E. The conveyor platform descends, and the conveyor belt delivers the sheet to the laser glue overflow cleaning station. The positioning control system is started to position the lead frame and detect whether the positioning is completed;

[0078] F. The laser control system controls the laser to burn the particles with overflow glue in the mapping according to the mapping data of the overflow glue removal area sent by the visual inspection system of the above process D;

[0079] G. The conveyor belt conveys the lead frame after the glue overflow is removed to the visual mechanism position of the second visual inspection station for visual glue overflow re-inspection. If the glue overflow re-inspection determines that there is glue overflow residue, the lead frame will be sent to the manual inspection box by the mechanism. If the glue overflow re-inspection determines that there is no glue overflow residue, it will be sent to the unloading area;

[0080] H. After the above G process, the lead frame with the excess glue removed is taken from the unloading station by the unloading module and driven by the unloading suction cup to the corresponding unloading clip.

[0081] It will be apparent to those skilled in the art that the invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other specific forms without departing from the spirit or essential features of the invention. Therefore, the embodiments should be considered exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description, and it is intended that all variations falling within the meaning and scope of the equivalent elements of the claims be included in the invention. Any reference numeral in a claim should not be considered as limiting the claim to which it relates.

[0082] In addition, it should be understood that although the present specification is described according to implementation modes, not every implementation mode contains only one independent technical solution. This description of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment may also be appropriately combined to form other implementation modes that can be understood by those skilled in the art.

Claims

1. A selective laser overflow glue cleaning control system based on visual detection, characterized by: A conveyor belt is arranged along the Y axis, and a loading station, a visual inspection station, a laser overflow glue cleaning station, and a unloading station are preset on the conveyor belt. A loading module is arranged in front of the loading station, and a unloading module is arranged behind the unloading station. A carrier is arranged on the conveyor belt, and several groups of loading clips are arranged below the X-axial coverage area direction of the loading module, and several groups of unloading clips are arranged below the X-axial coverage area direction of the unloading module: The entire control system includes a motion control system, a visual inspection system and a laser control system, which are connected to each other for communication and data exchange through their respective communication protocols, and the host computer of the entire control system is connected to the central control MES system through the SECS / GEM protocol; The motion control system is used to suck the lead frame placed in the loading clip to the conveying platform, convey it to the visual inspection position through the conveying platform, and then convey it to the laser glue overflow cleaning station by the conveyor belt. After the positioning motion control, the frame is positioned and the positioning is detected. After the laser glue overflow cleaning is completed, it is conveyed to the unloading station, and then the lead frame is sucked into the unloading clip; The visual inspection system is used for visual image acquisition, visual direction detection and glue overflow detection. The visual direction detection is used to determine whether the lead frame feeding direction is correct. According to the direction detection result, the motion control system transmits the lead frame to the corresponding position. The glue overflow detection is used to perform CCD scanning inspection on the lead frame to generate glue overflow mapping data and send it to the laser control system. The laser control system is used for the laser control software to generate a corresponding laser scanning path according to the overflow glue mapping data sent by the visual detection system, and control the laser controller to emit light to burn off the overflow glue at a fixed point.

2. According to the selective laser overflow glue cleaning control system based on visual detection in claim 1, it is characterized by: The motion control system includes loading motion control, stage motion control, positioning motion control, and unloading motion control; The feeding motion control includes feeding clip lifting control, feeding servo motor positioning control, and feeding suction cup suction / discharging control, which is used to suck the lead frame placed in the feeding clip onto the conveying platform or suck the lead frame with wrong visual direction detection into the wrong direction material box; The stage motion control includes stage lifting control, stage vacuum suction control, and stage servo motor positioning control, which are used to control the loading motion and transfer the lead frame placed on the stage to different visual inspection positions; The positioning motion control includes lifting control of the overflow cleaning platform, lifting control of the positioning support plate, and lifting control of the positioning blocking, which are used to position the lead frame that is transferred to the overflow cleaning area; The unloading motion control includes unloading clip lifting control, unloading servo motor positioning control, and unloading suction cup suction / discharging control, which is used to suck the lead frame that has been transferred to the unloading station after the overflow glue is removed and place it in the corresponding unloading clip, or to suck the lead frame that has visual overflow glue detection errors and random inspections after the overflow glue is removed and place it in the manual inspection box.

3. According to the selective laser overflow glue cleaning control system based on visual detection in claim 1, it is characterized by: The motion control system adopts a motion controller plus a human-machine interactive touch screen. The motion controller communicates with the human-machine interface of the human-machine interactive touch screen through the Ethernet protocol, communicates with the servo driver through the EtherCAT protocol, and communicates with the sensor, speed regulating motor, solenoid valve, vacuum generator and visual detection system through the I / O input and output module.

4. The selective laser overflow glue cleaning control system based on visual detection according to claim 3 is characterized by: The motion control system includes a manual mode and an automatic mode. The manual mode operates the human-machine interface to control the corresponding electrical components and other signals, while the automatic mode system automatically controls the operation according to signals such as sensors and servo positions.

5. The selective laser overflow glue cleaning control system based on visual detection according to claim 1, characterized in that: The visual inspection system includes an image acquisition system, an image inspection system and visual inspection software; The equipment of the image acquisition system includes a dedicated light source, a linear array industrial camera, and an optical lens. The image acquisition system is used for collecting visual inspection images; The image detection system includes an image processing algorithm and an image detection algorithm, and the image detection system is used for visual detection image analysis and obtaining results; The visual inspection software is installed on a visual inspection industrial computer. The visual inspection software includes functions of template creation, visual teaching, parameter setting, and data communication. The visual inspection software includes direction detection and overflow glue detection. The direction detection is used to determine whether the feeding direction of the lead frame is correct. According to the direction detection result, the motion control system transmits the lead frame to the corresponding position; the overflow glue detection is used to perform CCD scanning on the lead frame to generate overflow glue mapping data on the lead frame and send it to the laser control system. The visual inspection software has the option of enabling and disabling the direction detection and overflow glue detection functions.

6. The selective laser overflow glue cleaning control system based on visual detection according to claim 1, characterized in that: The laser control system includes laser light output control and laser control software; The laser light output control hardware includes a laser controller, a laser, a lens, and a laser module, and selectively outputs light at a fixed point to burn off the overflow glue according to the data of the laser control software; The laser control software includes template creation and template positioning. The laser control software generates a corresponding laser scanning path according to the overflow glue mapping data sent by the visual inspection system, and controls the laser controller to emit light to burn off the overflow glue.

7. The selective laser overflow glue cleaning control system based on visual detection according to claim 1, characterized in that: The visual inspection station includes a first visual inspection station and a second visual inspection station, and the first visual inspection station and the second visual inspection station are arranged in two side areas of the laser overflow glue cleaning station.

8. The selective laser overflow glue cleaning control system based on visual detection according to claim 7, characterized in that: The motion control system sucks the lead frame from the loading clip to the conveying platform, and the platform conveys it to each inspection position of the first visual inspection station. The visual inspection system first detects the direction of the lead frame. If the direction is wrong, the lead frame is placed in the wrong direction material box. If the direction is correct, the overflow detection continues. After the detection is completed, the detection result is sent to the laser control system through the socket protocol. At the same time, the operation control system conveys the lead frame to the laser overflow cleaning area and positions it. Then, the laser control system performs a laser scan on the overflow glue area of ​​the lead frame to remove the overflow glue according to the overflow glue detection result. After the removal is completed, a secondary visual overflow glue detection is performed at the second visual inspection station. If the overflow glue is detected to be cleared, the motion control system conveys the lead frame to the unloading clip. If the overflow glue is not detected to be cleared, it is conveyed to the manual inspection material box.

9. The selective laser overflow glue cleaning control system based on visual detection according to claim 1, characterized in that: The laser of the laser control system adopts a double-headed high-power single-cavity laser and a set of laser control software. Based on the laser characteristics, the laser module can move left and right according to the planned path, and the laser emits light vertically during the laser ablation process.

10. The selective laser overflow glue cleaning control system based on visual detection according to claim 1, characterized in that: The entire control system is suitable for lead frames with a length of less than 300 mm and a width of less than 100 mm. The parameters of motion control, visual inspection and laser control systems for different types of products are established in advance, and different types of products can be switched with one click by scanning the code or using software.

Images