Aiming at the problems of poor stability and low efficiency of feeding parts, low grasping efficiency and insufficient positioning accuracy of X and Y servo spindle manipulator in the production process of traditional lead frame loader, a new lead frame loader based on Halcon was proposed. The guiding structure and driving form of each feeding part were improved, the pulling needle structure was used to replace the traditional belt flexible conveying structure,then efficient and stable feeding function was realized. SCARA was used to replace the traditional X and Y servo spindles and cooperated with the grasping mechanism driven by single cylinder to realize the arrangement function with faster response and higher integration. The positioning visual inspection module was designed, and the Halcon visual library was used to detect and analyze the boundary characteristics of the packaging bracket and the positioning hole characteristics of the lead frame. The results show that the false alarm rate is less than 2%, the missing alarm rate is 0, and the detection time is less than 500 ms, which can meet the actual application needs of the production site.