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At present, most of the vision systems of the plug-in machine adopt the pin positioning method using bottom-camera, and it is often difficult to distinguish the pins and the component body, which affects the stability of the positioning method. For this problem, currently there is a pin positioning method based on rotational stereo vision, having good positioning effect on components with a small number of stitches, as well as high reliability and efficiency. Based on this research, a pin positioning method for multi-lead components was proposed. The method firstly obtains an unobstructed shooting angle interval, thereby getting images without overlapping pins; Then, obtaining the sub-pixel edge of each image, and the projection line equation of each edge point is obtained according to the camera imaging model; Finally, through the calibration of the rotating stereo vision, the envelope diagram of the component pins in the virtual imaging plane is obtained, thereby obtaining the offset and the rotation angle of the stitches.