Method for removing gold from leads inside a housing

Abstract

The present application relates to a kind of inside pin gold removal method of shell, belong to pin gold removal field.It includes the following steps: S1: the shell with inside pin is placed on loading table;S2: data information of the shell and the inside pin is identified and recorded using visual identification system;S3: according to the data information in step S2, the height of gold removal is calculated;S4: the shell is grabbed and displaced to fluxing agent spraying system using mechanical arm;S5: the inside pin is sprayed with fluxing agent on the part with the height of gold removal using the fluxing agent spraying system;S6: the shell is displaced to tin spraying gold removal system using the mechanical arm;S7: the inside pin is repeatedly immersed in tin liquid on the part with the height of gold removal using the tin spraying gold removal system;S8: the shell is displaced to detection system using the mechanical arm;S9: the shell after gold removal is displaced to unloading table using the mechanical arm.The present application is beneficial to realize the automatic gold removal of the inside pin of shell.

Description

Technical Field

[0001] The invention relates to the field of pin gold removal, and in particular to a method for removing gold from pins in a housing. Background Art

[0002] In hybrid integrated circuit assembly, gold removal from gold-plated leads is a crucial process for ensuring product reliability. Due to its high chemical stability and resistance to oxidation, gold is commonly used as a protective coating on various electronic devices. However, during the soldering process, the tin in the solder can rapidly react with the gold layer to form various intermetallic compounds. The gold-tin compound AuSn4 (gold-tin tetrahydrate) is brittle, and the solder joint loses its luster. This not only degrades the mechanical properties of the solder joint but also makes it prone to pinholes, allowing oxygen and moisture from the air to penetrate and corrode the solder joint, reducing reliability. Therefore, gold removal is often required before soldering electronic devices to eliminate the formation of gold-tin compounds and improve product reliability.

[0003] The general gold removal process is to first tin the gold-plated parts to dissolve the gold layer, and then remove the tin and gold together. For gold-plated leads, pins and other components, the gold can be removed directly with a tin pot. Unlike the leads, the main structure of the shell is a stainless steel cavity with a matchbox structure. Holes are punched on the bottom or side walls, and insulators made of sintered glass or ceramic are fixed to the pins, so that most of the pins are exposed from the shell, and a small part of the pins remain in the shell cavity. The shell is generally divided into straight-insert shells and side-insert shells. Since the internal pins are inside the shell, the tin pot method cannot be used to remove gold. The following methods are currently available for removing gold from the pins inside the shell: (1) Soldering iron gold removal, that is, using a manual soldering iron to remove gold from the pins one by one. Although this method is flexible, it has high labor costs and poor controllability; (2) Wave soldering gold removal, which can be automated, but requires special fixtures, and different types of shell fixtures are not universal. It is costly to design and manufacture fixtures specifically for different types of shells. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to provide a method for removing gold from pins inside a housing to solve the above-mentioned problem.

[0005] The present invention solves the above-mentioned technical problem with the following technical solution: A method for removing gold from pins inside a housing comprises the following steps:

[0006] S1: Place the housing with inner pins on the loading table;

[0007] S2: using a visual recognition system to identify and record data information of the outer shell and the inner pins;

[0008] S3: Calculate the gold removal height based on the data information in step S2;

[0009] S4: using a robotic arm to grab and move the housing to a flux spraying system;

[0010] S5: spraying flux on the portion of the inner pin having the gold removal height by the flux spraying system;

[0011] S6: using the robotic arm to move the housing to a tin spraying and gold removal system;

[0012] S7: repeatedly immersing the portion of the inner pin having the gold removal height in tin liquid by the tin spraying and gold removal system;

[0013] S8: using the robotic arm to move the housing to a detection system;

[0014] S9: Using the robotic arm to move the shell after the metal is removed to the unloading platform.

[0015] The beneficial effects of the present invention are as follows: the visual recognition system is conducive to identifying the data information of the straight-plug type shell and the side-plug type shell, and using the identified data information, it cooperates with the robotic arm to automatically grasp and displace the straight-plug type shell and the side-plug type shell, and spray flux and tin spray gold removal operations after grasping, so that the gold removal operation of the pins in the shell is fully automated, reducing labor costs. At the same time, the flux spraying system and the tin spray gold removal system can adapt to shells of different specifications, avoiding the design of fixtures for shells of different specifications, thereby reducing the design and use costs of the fixtures; the detection system is conducive to identifying the gold removal effect, and provides a guarantee for the accuracy of the gold removal operation.

[0016] On the basis of the above technical solution, the present invention can also be improved as follows.

[0017] Furthermore, the visual recognition system is arranged toward one end of the opening on the shell.

[0018] The beneficial effect of adopting the above further solution is that the visual recognition system is arranged toward the end of the opening on the shell, which is conducive to identifying the data information of the shell and the inner pins.

[0019] Furthermore, in step S2, the data information of the shell includes: the outline, size and coordinates of the shell relative to the robotic arm.

[0020] The beneficial effect of adopting the above further solution is: identifying the outline, size and coordinates of the shell relative to the robotic arm is conducive to transmitting data to the control system of the robotic arm, so as to realize the adaptive grasping of the robotic arm for shells of different specifications.

[0021] Further, in step S2, the data information of the inner pin includes: the height of the visual identification system from the end of the inner pin, the height of the visual identification system from the bottom surface of the outer shell, the height of the visual identification system from the outer shell, the shortest distance between the inner pin and the inner wall of the outer shell, the shortest distance between two adjacent inner pins, and the distance between the end of the inner pin and the inner wall of the outer shell.

[0022] The beneficial effects of adopting the above-mentioned further scheme are: measuring the height of the visual recognition system from the end of the inner pin and the height of the visual recognition system from the bottom surface of the outer shell is conducive to calculating the length of the inner pin of the straight-insert shell; measuring the distance between the end of the inner pin and the inner wall of the outer shell is conducive to obtaining the length of the inner pin of the side-insert shell; measuring the height of the visual recognition system from the bottom surface of the outer shell and the height of the visual recognition system from the outer shell is conducive to providing calculation data for the robot arm to grasp the side-insert shell and then rotate it to move the inner pin downward; measuring the shortest distance between the inner pin and the inner wall of the outer shell and the shortest distance between two adjacent inner pins is conducive to providing data support for selecting a tin spray nozzle compatible with the inner pin in steps S6 and S7, avoiding interference between two adjacent inner pins or between the inner pin and the inner wall of the outer shell when the inner pin is pushed down into the tin spray nozzle.

[0023] Further, in step S3, the gold removal height is less than or equal to the height of the visual recognition system from the bottom surface of the shell minus the height of the visual recognition system from the inner pin end, or less than or equal to the distance between the inner pin end and the inner wall of the shell tube shell.

[0024] The beneficial effect of adopting the above further solution is that it is helpful to calculate or measure the gold removal height of the side-insertion type housing or the straight-insertion type housing.

[0025] Furthermore, a pressure sensor and a heating device are provided in the robotic arm, and both the pressure sensor and the heating device are in contact with the outer shell.

[0026] The beneficial effects of adopting the above further scheme are: the pressure sensor is conducive to ensuring that the clamping of the robot arm is stable and does not wear the outer shell and tube shell, and the heating equipment is conducive to preheating the outer shell and tube shell before gold removal, providing the necessary temperature conditions for the gold removal reaction, and improving the gold removal efficiency.

[0027] Further, in steps S4 and S5, the flux spraying system includes: a flux spray gun, an infrared height measuring device for measuring the gold removal height, and a displacement device for moving the flux spray gun, and the flux spray gun is installed on the displacement device and aligned with the inner pin.

[0028] The beneficial effect of adopting the above further solution is that the infrared height measuring equipment combined with the flux spray gun is conducive to the flux spraying operation on the part of the inner pin with the gold removal height, which provides convenience for the subsequent gold removal operation.

[0029] Further, in steps S6 and S7, the tin spraying and gold removal system includes: a plurality of tin spraying nozzles of different sizes, a liquid level sensor, an electromagnetic pump and a tin pot, the liquid level sensor is arranged on the inner wall of the tin spraying nozzle, the tin spraying nozzle is connected to the tin pot, and the electromagnetic pump is connected to the tin pot to pump the tin liquid in the tin pot into the tin spraying nozzle or return the tin liquid in the tin spraying nozzle to the tin pot.

[0030] The beneficial effects of adopting the above further scheme are: multiple tin spray nozzles with different sizes are conducive to adapting to internal pins of different specifications, the liquid level sensor is conducive to providing judgment conditions for the length of the internal pins penetrating into the tin spray nozzle, and at the same time provides a stop condition for the rising height of the tin liquid in the tin spray nozzle, and the electromagnetic pump is conducive to pumping the tin liquid in the tin pot into the tin spray nozzle or returning the tin liquid in the tin spray nozzle to the tin pot.

[0031] Furthermore, the tin spray nozzle is a straight or broken line tubular structure.

[0032] The beneficial effects of adopting the above further solution are: the tin spray nozzle with a straight tubular structure is conducive to adapting to the gold removal operation of the straight-insertion type shell; the tin spray nozzle with a broken-line tubular structure is conducive to adapting to the gold removal operation of the side-insertion type shell.

[0033] Furthermore, in step S8, the detection system includes an optical detection device for determining the color of the inner lead and a component detection device for determining the gold content in the inner lead.

[0034] The beneficial effect of adopting the above-mentioned further scheme is as follows: the optical detection equipment is conducive to observing the color change of the inner pin from the side at a certain angle. Since the inner pin is golden before gold removal and silver after gold removal, the degree of gold removal can be determined based on the color difference. The component detection equipment is conducive to bombarding the inner pin with laser or other energy beams, collecting electromagnetic waves or particles released from the surface of the inner pin to determine the composition of the inner pin, and determining the degree of gold removal based on the gold content in the composition of the inner pin. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 A flow chart of a gold removal method provided in an embodiment of the present invention;

[0036] Figure 2 A schematic diagram of a visual recognition system according to an embodiment of the present invention identifying plug-in type housing data information;

[0037] Figure 3A schematic diagram of a visual recognition system according to an embodiment of the present invention identifying data information of a side-insertion housing;

[0038] Figure 4 A schematic structural diagram of a tin spraying and gold removal system provided in an embodiment of the present invention;

[0039] Figure 5 A schematic diagram of the structure between the plug-in housing and the tin spray nozzle provided in an embodiment of the present invention;

[0040] Figure 6 A schematic diagram of the structure between the side-insertion housing and the tin spray nozzle provided in an embodiment of the present invention;

[0041] Figure 7 The operation flow of step S7 provided in the embodiment of the present invention Figure 1 ;

[0042] Figure 8 The operation flow of step S7 provided in the embodiment of the present invention Figure 2 ;

[0043] Figure 9 The operation flow of step S7 provided in the embodiment of the present invention Figure 3 ;

[0044] Figure 10 The operation flow of step S7 provided in the embodiment of the present invention Figure 4 ;

[0045] Figure 11 The operation flow of step S7 provided in the embodiment of the present invention Figure 5 .

[0046] in, Figure 2 and Figure 3 H1 represents the height of the visual recognition system from the end of the inner pin, H2 represents the height of the visual recognition system from the bottom surface of the shell, and H3 represents the height of the visual recognition system from the shell shell; Figure 2 H4 represents the shortest distance between the inner pin and the inner wall of the outer shell, and H5 represents the shortest distance between two adjacent inner pins; Figure 3 H6 in FIG. 5 represents the distance between the end of the inner pin and the inner wall of the housing tube shell.

[0047] In the accompanying drawings, the components represented by the reference numerals are as follows:

[0048] 1. Visual recognition system; 2. Tin spraying and gold removal system; 3. Housing; 21. Tin spraying nozzle; 22. Liquid level sensor; 23. Electromagnetic pump; 24. Tin pot; 31. Inner pins; 32. Housing and tube shell. DETAILED DESCRIPTION

[0049] The principles and features of the present invention are described below. The examples given are only used to explain the present invention and are not used to limit the scope of the present invention.

[0050] like Figure 1 As shown, a method for removing gold from pins in a housing includes the following steps:

[0051] S1: Place the housing 3 with the inner pins 31 on the loading table;

[0052] S2: using the visual recognition system 1 to identify and record data information of the housing 3 and the inner pin 31;

[0053] S3: Calculate the gold removal height based on the data information in step S2;

[0054] S4: using a robotic arm to grab and move the housing 3 to a flux spraying system;

[0055] S5: spraying flux on the portion of the inner pin 31 having the gold removal height by the flux spraying system;

[0056] S6: Using the robotic arm to move the housing 3 to the tin spraying and gold removal system 2;

[0057] S7: repeatedly immersing the portion of the inner pin 31 having the gold removal height in tin liquid by the tin spraying and gold removal system 2;

[0058] S8: Using the robotic arm to move the housing 3 to the detection system;

[0059] S9: Using the robot arm to move the shell 3 after the metal is removed to the unloading platform.

[0060] It should be noted that: in step S1, the surface of the loading table is horizontal, smooth, and translucent, the surface does not deform, the outer shell does not wear out, and it has a backlight function.

[0061] The beneficial effects of the present invention are as follows: the visual recognition system is conducive to identifying the data information of the straight-plug type shell and the side-plug type shell, and using the identified data information, it cooperates with the robotic arm to automatically grasp and displace the straight-plug type shell and the side-plug type shell, and spray flux and tin spray gold removal operations after grasping, so that the gold removal operation of the pins in the shell is fully automated, reducing labor costs. At the same time, the flux spraying system and the tin spray gold removal system can adapt to shells of different specifications, avoiding the design of fixtures for shells of different specifications, thereby reducing the design and use costs of the fixtures; the detection system is conducive to identifying the gold removal effect, and provides a guarantee for the accuracy of the gold removal operation.

[0062] Preferably, Figure 2 and Figure 3As shown, the visual recognition system 1 is arranged toward one end of the opening on the shell 3.

[0063] Among them, it should be noted that: in the technical solution of the present invention, the shell 3 is divided into a straight-plug type shell and a side-plug type shell, the shell 3 includes a plurality of inner pins 31 and a shell tube shell 32, the shell tube shell 32 is a stainless steel cavity, and is a shell structure with one end open. A plurality of through holes are provided on the bottom or side wall of the shell tube shell 32, and an insulator sintered from glass or ceramic is fixed on the through holes. At the same time, a plurality of pins pass through the through holes and the insulator, so that most of the pins are exposed from the shell tube shell 32, and a small part remains in the shell tube shell 32 to form the inner pins 31.

[0064] The beneficial effect of adopting the above preferred solution is that the visual recognition system is arranged toward the open end of the shell, which is conducive to identifying the data information of the shell and the inner pins.

[0065] Preferably, in step S2, the data information of the shell 3 includes: the outline, size and coordinates of the shell 3 relative to the robotic arm.

[0066] The beneficial effect of adopting the above preferred solution is: identifying the outline, size and coordinates of the shell relative to the robotic arm is conducive to transmitting data to the control system of the robotic arm, so as to realize the adaptive grasping of shells of different specifications by the robotic arm.

[0067] Preferably, Figure 2 and Figure 3 As shown, in step S2, the data information of the inner pin 31 includes: the height H1 of the visual identification system 1 from the end of the inner pin 31, the height H2 of the visual identification system 1 from the bottom surface of the outer shell 3, the height H3 of the visual identification system 1 from the outer shell 32, the shortest distance H4 between the inner pin 31 and the inner wall of the outer shell 32, the shortest distance H5 between two adjacent inner pins 31, and the distance H6 between the end of the inner pin 31 and the inner wall of the outer shell 32.

[0068] It should be noted that: in the technical solution of the present invention, since the outer shell 32 is a shell structure with one end open, the above-mentioned "bottom surface of the outer shell 3" refers to the inner wall of the bottom end of the outer shell 32.

[0069] The beneficial effects of adopting the above-mentioned preferred scheme are: measuring the height of the visual recognition system from the end of the inner pin and the height of the visual recognition system from the bottom surface of the outer shell is conducive to calculating the length of the inner pin of the straight-insert shell; measuring the distance between the end of the inner pin and the inner wall of the outer shell is conducive to obtaining the length of the inner pin of the side-insert shell; measuring the height of the visual recognition system from the bottom surface of the outer shell and the height of the visual recognition system from the outer shell is conducive to providing calculation data for the robot arm to grasp the side-insert shell and then rotate it to move the inner pin downward; measuring the shortest distance between the inner pin and the inner wall of the outer shell and the shortest distance between two adjacent inner pins is conducive to providing data support for selecting a tin spray nozzle compatible with the inner pin in steps S6 and S7, avoiding interference between two adjacent inner pins or between the inner pin and the inner wall of the outer shell when the inner pin is pushed down into the tin spray nozzle.

[0070] Preferably, in step S3, the gold removal height is less than or equal to the height H2 of the visual recognition system 1 from the bottom surface of the outer shell 3 minus the height H1 of the visual recognition system 1 from the end of the inner pin 31, or less than or equal to the distance H6 between the end of the inner pin 31 and the inner wall of the outer shell tube shell 32.

[0071] The beneficial effect of adopting the above preferred solution is that it is helpful to calculate or measure the gold removal height of the side-insertion type housing or the straight-insertion type housing.

[0072] Preferably, a pressure sensor and a heating device are provided in the robotic arm, and both the pressure sensor and the heating device are in contact with the housing 3 .

[0073] It should be noted that: in a preferred embodiment of the present invention, the pressure sensor and the heating device are in contact with the outer wall of the outer shell 32;

[0074] The heating device is an electric heating wire or an electric heating plate, and the heating temperature is adjusted between 25°C and 200°C. The robotic arm also includes a matching controller for receiving external input signals, thereby controlling the movement of the robotic arm and performing signal processing and control on the pressure sensor and the heating device.

[0075] The beneficial effects of adopting the above-mentioned preferred scheme are: the pressure sensor is conducive to ensuring the stable clamping of the robotic arm and does not wear the outer shell and tube shell, and the heating equipment is conducive to preheating the outer shell and tube shell before gold removal, providing the necessary temperature conditions for the gold removal reaction, and improving the gold removal efficiency.

[0076] Preferably, in steps S4 and S5, the flux spraying system includes: a flux spray gun, an infrared height measuring device for measuring the gold removal height, and a displacement device for moving the flux spray gun, and the flux spray gun is installed on the displacement device and is aligned with the inner pin 31.

[0077] It should be noted that: in a preferred embodiment of the present invention, the displacement device is a combined structure of a motor, a screw and a guide rail, and the flux spraying system also includes a controller for controlling the displacement of the displacement device, controlling the opening and closing of the flux spray gun, and connecting with the infrared height measuring device for data communication and control.

[0078] The beneficial effect of adopting the above preferred solution is that the infrared height measuring equipment combined with the flux spray gun is conducive to the flux spraying operation on the part of the inner pin with the gold removal height, which provides convenience for the subsequent gold removal operation.

[0079] Preferably, Figures 4 to 11 As shown, in steps S6 and S7, the tin spraying and gold removal system 2 includes: a plurality of tin spraying nozzles 21 of different sizes, a liquid level sensor 22, an electromagnetic pump 23 and a tin pot 24, the liquid level sensor 22 is arranged on the inner wall of the tin spraying nozzle 21, the tin spraying nozzle 21 is connected to the tin pot 24, and the electromagnetic pump 23 is connected to the tin pot 24 to pump the tin liquid in the tin pot 24 into the tin spraying nozzle 21 or return the tin liquid in the tin spraying nozzle 21 to the tin pot 24.

[0080] It should be noted that: in a preferred embodiment of the present invention, the liquid level sensor 22 can be replaced by an infrared height measuring device to provide a judgment condition for regulating the height of the tin liquid in the tin spray nozzle 21;

[0081] Since the air needs to be isolated during the gold removal operation to prevent tin oxidation, the tin spray gold removal system 2 also includes an air ring for releasing protective gas; the tin spray gold removal system 2 also includes a controller connected to the liquid level sensor 22 and the electromagnetic pump 23, and performing signal transmission and control with them.

[0082] The beneficial effects of adopting the above-mentioned preferred scheme are: multiple tin spray nozzles with different sizes are conducive to adapting to internal pins of different specifications, the liquid level sensor is conducive to providing judgment conditions for the length of the internal pins penetrating into the tin spray nozzle, and at the same time provides a stop condition for the rising height of the tin liquid in the tin spray nozzle, and the electromagnetic pump is conducive to pumping the tin liquid in the tin pot into the tin spray nozzle or returning the tin liquid in the tin spray nozzle to the tin pot.

[0083] Preferably, Figure 5 and Figure 6 As shown, the tin spray nozzle 21 is a straight or broken line tubular structure.

[0084] The beneficial effects of adopting the above preferred solution are: the tin spray nozzle with a straight tubular structure is conducive to adapting to the gold removal operation of the straight-insertion type shell; the tin spray nozzle with a broken-line tubular structure is conducive to adapting to the gold removal operation of the side-insertion type shell.

[0085] Preferably, in step S8 , the detection system includes an optical detection device for determining the color of the inner pin 31 and a component detection device for determining the gold content in the inner pin 31 .

[0086] The beneficial effects of adopting the above-mentioned preferred scheme are: the optical detection equipment is conducive to observing the color change of the inner pin from the side at a certain angle. Since the inner pin is golden before gold removal and silver after gold removal, the degree of gold removal can be determined based on the different colors. The component detection equipment is conducive to bombarding the inner pin with laser or other energy beams, collecting electromagnetic waves or particles released from the surface of the inner pin to determine the composition of the inner pin, and determining the degree of gold removal based on the gold content in the inner pin composition.

[0087] In the above technical solution, the visual recognition system 1, the controller in the robotic arm, the controller in the flux spraying system, the controller in the tin spraying and gold removal system 2, and the detection system are all interconnected through signal lines, thereby realizing signal interaction during the entire gold removal operation.

[0088] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like to indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0089] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referred to. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "plurality" means at least two, such as two, three, etc., unless otherwise specifically defined.

[0090] In the present invention, unless otherwise specified or limited, the terms "installed," "connected," "connect," "fixed," etc. should be understood in a broad sense. For example, they can refer to fixed connection, detachable connection, or integration; mechanical connection, electrical connection; direct connection, or indirect connection through an intermediate medium; internal communication between two components, or interaction between two components, unless otherwise specified. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0091] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediary. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or diagonally above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or diagonally below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0092] In the description of this specification, the reference terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" mean that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art can combine and combine different embodiments or examples described in this specification and features of different embodiments or examples without contradiction.

[0093] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A method for removing gold from pins inside a housing, characterized in that: The following steps are involved: S1: Place the housing with inner pins on the loading table; S2: using a visual recognition system to identify and record data information of the outer shell and the inner pins; The data information of the inner pin includes: the height of the visual identification system from the end of the inner pin, the height of the visual identification system from the bottom surface of the outer shell, the height of the visual identification system from the outer shell, the shortest distance between the inner pin and the inner wall of the outer shell, the shortest distance between two adjacent inner pins, and the distance between the end of the inner pin and the inner wall of the outer shell; S3: Calculate the gold removal height based on the data information in step S2; the gold removal height is less than or equal to the height of the visual recognition system from the bottom surface of the shell minus the height of the visual recognition system from the end of the inner pin, or less than or equal to the distance between the end of the inner pin and the inner wall of the shell; S4: using a robotic arm to grab and move the housing to a flux spraying system; S5: spraying flux on the portion of the inner pin having the gold removal height by the flux spraying system; S6: using the robotic arm to move the housing to a tin spraying and gold removal system; S7: repeatedly immersing the portion of the inner pin having the gold removal height in tin liquid by the tin spraying and gold removal system; S8: using the robotic arm to move the housing to a detection system; S9: Using the robotic arm to move the shell after the metal is removed to the unloading platform.

2. A method for removing gold from pins inside a housing according to claim 1, characterized in that: The visual recognition system is arranged toward one end of the opening on the shell.

3. A method for removing gold from pins inside a housing according to claim 1, characterized in that: In step S2, the data information of the shell includes: the outline, size and coordinates of the shell relative to the robotic arm.

4. A method for removing gold from pins inside a housing according to claim 1, characterized in that: A pressure sensor and a heating device are provided in the robotic arm, and both the pressure sensor and the heating device are in contact with the housing.

5. The method for removing gold from pins in a housing according to claim 1, characterized in that: In steps S4 and S5, the flux spraying system includes: a flux spray gun, an infrared height measuring device for measuring the gold removal height, and a displacement device for moving the flux spray gun. The flux spray gun is installed on the displacement device and is aligned with the inner pin.

6. A method for removing gold from pins inside a housing according to claim 1, characterized in that: In steps S6 and S7, the tin spraying and gold removal system includes: a plurality of tin spray nozzles of different sizes, a liquid level sensor, an electromagnetic pump and a tin pot, the liquid level sensor is arranged on the inner wall of the tin spray nozzle, the tin spray nozzle is connected to the tin pot, and the electromagnetic pump is connected to the tin pot to pump the tin liquid in the tin pot into the tin spray nozzle or return the tin liquid in the tin spray nozzle to the tin pot.

7. A method for removing gold from pins inside a housing according to claim 6, characterized in that: The tin spray nozzle is a straight or broken line tubular structure.

8. The method for removing gold from pins in a housing according to claim 1, characterized in that: In step S8, the detection system includes an optical detection device for determining the color of the inner lead and a component detection device for determining the gold content in the inner lead.

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