Resistance pin straightening device and straightening method thereof

Abstract

This invention provides a resistor lead straightening device and method. The resistor lead straightening device includes a robotic arm, a straightening platform, and a linear guide rail. The straightening platform includes a base plate, a central limiting plate, movable plates located on both sides of the central limiting plate, and a drive cylinder. The central limiting plate has multiple support parts, with a first limiting groove formed on the edge of each support part. A second limiting groove is formed on the movable plate. The drive cylinder drives the movable plate to contact the support parts, so that the first and second limiting grooves cooperate to form a shaping hole that encloses the lead. The robotic arm moves the resistor, causing the lead to pass through the shaping hole. This device can adapt to resistors of different sizes by sliding and switching the support parts without changing the mold. The shaping hole applies circumferential constraints to the lead, and straightening can correct bending deformation in any direction in one step. At the same time, the shaping hole scrapes off the solder slag on the lead surface, integrating the straightening and slag removal processes into the same station, which can significantly improve resistor production efficiency.

Description

Technical Field

[0001] This invention relates to the field of resistor manufacturing, and in particular to a resistor lead straightening device and a straightening method thereof. Background Technology

[0002] like Figure 1 The zigzag resistor 20 shown has two leads 22 soldered onto its resistor body 21. Since the leads 22 are slender metal parts with low rigidity, the soldering process can easily cause the leads 22 to bend and deform, and the bending direction is random, possibly shifting or twisting in any direction, resulting in an irregular shape.

[0003] Existing straightening tools use fixed molds or pressure rollers to press the leads 22 for straightening. However, these devices are typically designed for a single product specification. When the product size changes, the positioning parts that are in direct contact with the resistor need to be replaced, and the molds need to be replaced to adapt to different product specifications. This process requires operators to stop the machine to replace the molds and readjust the equipment according to the new molds, resulting in long downtime. At the same time, when faced with uncertain lead bending directions and various deformation shapes, existing straightening structures cannot adaptively adjust the direction of force and the position of constraint, resulting in limited straightening effect.

[0004] On the other hand, solder slag is easily generated at the welding position between pin 22 and resistor 21. Before the straightening operation, it needs to be cleaned at other stations. Since pin straightening and solder slag removal are carried out at different stations, the product needs to be transferred between different stations, which prolongs the processing cycle of a single product and reduces the efficiency of resistor production.

[0005] Therefore, the problem that needs to be solved is how to provide a resistor that can adapt to different specifications and cope with multi-directional random bending deformation of the pins. Summary of the Invention

[0006] The purpose of this invention is to overcome the shortcomings of the prior art and provide a resistor pin straightening device and a straightening method thereof, so that the straightening device can be adapted to the pin straightening requirements of resistor products of various specifications, and removes the solder slag attached to the pin during the pin straightening process, thereby improving the shaping efficiency of the resistor.

[0007] The objective of this invention is achieved through the following technical solution: A resistor pin straightening device includes: a robotic arm, a straightening platform, and a linear guide rail; The straightening platform includes a base plate, a central limiting plate, movable plates located on both sides of the central limiting plate, and a driving cylinder. The central limiting plate is provided with multiple support parts, which are used to bear resistors. The driving cylinder is used to drive the movable plates to contact or separate from the central limiting plate. A first limiting groove is provided on the edge of the support part, and a second limiting groove is provided on both of the movable plates. When the movable plate contacts the support part, the first limiting groove and the second limiting groove both contact the outer wall of the pin, and the first limiting groove and the second limiting groove cooperate to form a shaping hole. The robotic arm is used to move the resistor away from the support and to make the pin pass through the molding hole.

[0008] In one embodiment, the first limiting groove includes a tapered guide portion and a straightening portion, the tapered guide portion decreasing in size from the side away from the straightening portion to the side closer to the straightening portion, and the straightening portion contacting the outer wall of the pin.

[0009] In one embodiment, the shaping hole is funnel-shaped, and only the straightening portion contacts the pin.

[0010] In one embodiment, the support portion is linearly distributed along the extension direction of the linear slide rail, and the width of the support portion increases along the extension direction of the linear slide rail.

[0011] In one embodiment, the movable plate has a stepped docking portion on one side facing the central limiting plate, and the second limiting groove is located on the docking portion.

[0012] In one embodiment, the cross-section of the central limiting plate is T-shaped, and there is a gap between the support portion and the substrate.

[0013] In one embodiment, a linear motor is also included, which drives the straightening platform to translate along the linear slide rail.

[0014] In one embodiment, the robotic arm includes a gripper and a lifting frame. The gripper is located above the substrate and is used to hold a resistor. The lifting frame is used to move the gripper closer to or away from the substrate.

[0015] In one embodiment, each of the support portions is provided with a positioning boss that matches the resistor.

[0016] A calibration method, based on the above-mentioned resistor pin calibration device, includes the following steps: Step 1: Confirm the specifications and dimensions of the resistor to be calibrated, and use this to drive the calibrating platform to move along the linear slide rail, so that the support part matching the size of the resistor to be calibrated moves directly under the robot arm; Step 2: Place the resistor on the support and apply downward pressure to make the pins pass through the first limiting groove; Step 3: Drive the cylinder to push the movable plate toward the center limiting plate, so that the first limiting groove and the second limiting groove are aligned to form a complete shaping hole. The inner wall of the shaping hole completely covers the outer periphery of the pin. Step 4: After the robotic arm grips the resistor, it applies a vertically upward pulling force to make the pins pass through the molding hole and straighten the pins. Step 5: The robotic arm returns the resistor to its original position, completing the calibration operation.

[0017] The above-mentioned resistor pin straightening device has the following beneficial effects: 1. This device features multiple support sections on the central limit plate, each corresponding to resistor products of different sizes and specifications. When changing product specifications, simply drive the straightening platform along the linear slide rail to move the corresponding support section adapted to the current resistor size to the robot's working position. No disassembly or replacement of any positioning components in contact with the resistor is required throughout the process, significantly reducing changeover and debugging time. This solves the problems of long downtime and poor adaptability to flexible production of multiple product types caused by mold changes in existing straightening devices.

[0018] 2. During the straightening process, the first and second limiting grooves work together to form a shaping hole that fits against the outer wall of the pin, thus wrapping the pin's outer circumference. The robotic arm grips the resistor and applies a pulling force, causing the pin to pass through the shaping hole as a whole. By utilizing the comprehensive circumferential constraint of the shaping hole on the pin, regardless of how randomly the pin's bending direction changes, multi-directional straightening can be achieved simultaneously through a single pulling action, overcoming the shortcomings of fixed straightening structures that cannot cope with uncertain pin bending directions and irregular deformation shapes.

[0019] 3. During the process of the lead passing through the shaping hole, the hole wall straightens the lead and also scrapes the lead surface, which can remove the welding slag residue on the line. The straightening and welding slag removal processes are integrated into the same station and the same action, eliminating the need for separate cleaning at other stations. This eliminates the risk of multiple product transfers and secondary deformation caused by inconsistent process positions, effectively shortens the processing cycle of a single product, and improves the overall production efficiency of resistors. Attached Figure Description

[0020] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram showing the state of a resistor pin when it is deformed. Figure 2 A schematic diagram of a resistor lead straightening device; Figure 3 This is a schematic diagram of the structure of the calibration platform; Figure 4 This is a schematic diagram showing the state when the center limiting plate and the movable plate are docked. Figure 5 for Figure 4 A schematic diagram showing the interaction between the resistor and the central limiting plate in the indicated state; Figure 6 This is a state diagram when the pin is located inside the plastic hole; Figure 7 This is a schematic diagram of the pin status after calibration.

[0022] Reference numerals: 10, Resistor pin straightening device; 1, Shaping hole; 100, Robotic arm; 110, Pneumatic gripper; 120, Lifting frame; 200, Straightening platform; 210, Base plate; 220, Center limiting plate; 221, Support part; 222, First limiting groove; 2221, Conical guide part; 2222, Straightening part; 223, Positioning boss; 230, Movable plate; 231, Second limiting groove; 232, Docking part; 240, Drive cylinder; 300, Linear slide rail; 400, Linear motor; 20, Z-shaped resistor; 21, Resistor body; 22, Pin. Detailed Implementation

[0023] To facilitate understanding of the present invention, a more complete description will be given below with reference to the accompanying drawings. Preferred embodiments of the invention are shown in the drawings. However, the invention can be implemented in many different forms and is not limited to the embodiments described herein. Rather, these embodiments are provided to provide a thorough and complete understanding of the disclosure of the invention.

[0024] It should be noted that when an element is referred to as being "fixed to" another element, it can be directly attached to the other element or there may be an intervening element. When an element is referred to as being "connected to" another element, it can be directly connected to the other element or there may be an intervening element. The terms "vertical," "horizontal," "left," "right," and similar expressions used herein are for illustrative purposes only and do not represent the only possible implementation.

[0025] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein in the description of the invention is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The term "and / or" as used herein includes any and all combinations of one or more of the associated listed items.

[0026] Please see Figure 1 and Figure 2The zigzag resistor 20 mentioned in the background art has two leads 22 welded onto its resistor body 21. These leads 22 are slender metal components with low rigidity, making them prone to bending and deformation during welding and subsequent processes, with uncertain bending directions. Furthermore, welding slag easily remains at the welding location. To solve these problems, this invention provides a resistor lead straightening device 10, which includes: a robotic arm 100, a straightening platform 200, and a linear guide rail 300.

[0027] Please see Figure 2 and Figure 3 The straightening platform 200 is slidably mounted on the linear guide rail 300, and the resistor 20 to be straightened is placed on the straightening platform 200. The robotic arm 100 is located above the straightening platform 200 and is used to clamp and lift the resistor 20 supported on the straightening platform 200.

[0028] Please see Figure 3 and Figure 4 The straightening platform 200 includes a base plate 210, a central limiting plate 220, a movable plate 230, and a drive cylinder 240. The central limiting plate 220 is mounted on the base plate 210, and two movable plates 230 are arranged symmetrically on both sides of the central limiting plate 220. The drive cylinder 240 is fixed on the base plate 210, and its piston rod is connected to the movable plate 230. The drive cylinder 240 is used to drive the movable plate 230 to move closer to or further away from the central limiting plate 220 in the horizontal direction, so as to achieve contact or separation between the movable plate 230 and the central limiting plate 220.

[0029] Please see Figure 3 and Figure 4 The central limiting plate 220 has multiple support portions 221 arranged along its longitudinal direction. These support portions 221 support the U-shaped resistor 20 to be straightened. The multiple support portions 221 are linearly distributed along the extension direction of the linear slide rail 300, and the width of each support portion 221 increases along this extension direction to accommodate resistor products of different sizes and specifications. Each support portion 221 has a positioning boss 223 that corresponds to and matches the resistor body 21, used for reliable positioning of the resistor body 21 during the straightening process.

[0030] Please see Figure 3 and Figure 6 A first limiting groove 222 is provided on the edge of the support portion 221. Specifically, the first limiting groove 222 includes a tapered guide portion 2221 and a straightening portion 2222, with the tapered guide portion 2221 located above the straightening portion 2222. The diameter of the tapered guide portion 2221 decreases from the side away from the straightening portion 2222 to the side closer to the straightening portion 2222, forming an overall cone-shaped hole that is larger at the top and smaller at the bottom. The thickness of the straightening portion 2222 is less than the thickness of the tapered guide portion 2221, and the aperture of the straightening portion 2222 matches the outer diameter of the pin 22 for close contact with the outer wall of the pin 22.

[0031] Please see Figure 3 and Figure 4 The movable plate 230 has a stepped docking portion 232 on the side facing the central limiting plate 220, and a second limiting groove 231 is formed on the docking portion 232. When the driving cylinder 240 drives the movable plate 230 to contact the central limiting plate 220, the first limiting groove 222 and the second limiting groove 231 engage to form a complete shaping hole 1. At this time, both the first limiting groove 222 and the second limiting groove 231 are in contact with the outer wall of the pin 22.

[0032] Please see Figure 6 The cross-section of the central limiting plate 220 is T-shaped, and there is a gap between the support part 221 and the edge of the base plate 210. This gap provides space for the movement of the movable plate 230, and at the same time facilitates the removal of welding residue after scraping, preventing welding residue from accumulating on the straightening platform 200.

[0033] Please see Figure 2 and Figure 3 The resistor pin straightening device 10 in this embodiment also includes a linear motor 400, which is mounted on a linear slide rail 300. Its output end is connected to the base plate 210 of the straightening platform 200 and is used to drive the straightening platform 200 to translate along the linear slide rail 300 so that the corresponding support part 221 adapted to the current resistor specification to be straightened is accurately moved to below the working position of the robot arm 100.

[0034] Please see Figure 2 and Figure 5 The robotic arm 100 includes a gripper 110 and a lifting frame 120. The gripper 110 is located above the substrate 210 and is used to hold the resistor 21 of the U-shaped resistor 20. The lifting frame 120 is connected to the gripper 110 and is used to move the gripper 110 vertically closer to or further away from the substrate 210, thereby lifting or lowering the resistor 20 from the support 221.

[0035] The present invention also provides a calibration method based on the above-mentioned resistor pin calibration device 10, comprising the following steps: Step 1: Confirm the specifications and dimensions of the resistor 20 to be calibrated, and use this to drive the calibrating platform 200 to translate along the linear slide rail 300, so that the support part 221 matching the size of the resistor to be calibrated moves directly below the robot arm 100. The purpose of confirming the specifications of resistor 20 is to determine the spacing between the two pins 22 on resistor 20, and based on this, to move the target support 221 below the robot arm 100 at the position of the support 221 that matches the specifications of the resistor 20 on the center limiting plate 220. Step 2: Place the resistor on the support 221 and apply downward pressure to make the pin 22 pass through the first limiting groove 222; In the initial state, the movable plate 230 and the central limiting plate 220 are separated, and there is sufficient clearance around the pin 22. At this time, the pin 22 only needs to pass through the first limiting groove 222. Step 3: Drive cylinder 240 pushes movable plate 230 to close to center limiting plate 220, so that the first limiting groove 222 and the second limiting groove 231 are aligned to form a complete shaping hole 1, and the inner wall of shaping hole 1 completely wraps the outer periphery of pin 22. Step 4: After the robotic arm 100 clamps the resistor 21, it applies a vertical upward pulling force to make the pin pass through the molding hole 1 and straighten the pin; [After the robotic arm 100 grips the resistor 21, it applies a vertically upward pulling force to drive the resistor upward. During the upward movement, the lead 22 passes through the shaping hole 1. The wall of the shaping hole 1 straightens the lead 22. Once the lead 22 has completely passed through the shaping hole 1, the movable plate 230 reopens, preparing for the placement of the resistor 20.] Step 5: The robotic arm 100 puts the resistor 20 back in its original position, and the straightening operation is completed.

[0036] The robotic arm 100 returns the straightened resistor 20 to the support 221, where it is then removed by the operator or the robotic arm of a downstream device. Combining the resistor pin straightening device 10 and its straightening method described above, the principle of straightening pin 22 in this invention is as follows: First, the linear motor 400 drives the straightening platform 200 to translate along the linear slide rail 300 according to the specifications of the resistor 20 to be straightened, moving the support part 221 that matches the current resistor size directly below the robot arm 100. This process is completed automatically without the need to disassemble or replace any molds or parts.

[0037] Subsequently, the zigzag resistor 20 to be straightened is manually placed by the operator or assisted by the robotic arms of upstream and downstream equipment onto the corresponding support 221. At this time, the drive cylinder 240 is not activated, and the central limiting plate 220 and the movable plate 230 are separated from each other. The pin 22 only needs to pass through the first limiting groove 222 and does not need to contact the second limiting groove 231. Since the movable plate 230 is in the retracted position, there is sufficient clearance around the pin 22. Even if the pin 22 undergoes a large degree of bending deformation, it can still be smoothly placed into the first limiting groove 222, and the resistor body 21 is embedded into the positioning boss 223 to complete the positioning.

[0038] Next, the drive cylinder 240 pushes the movable plates 230 on both sides to close towards the central limiting plate 220. The mating part 232 fits against the side wall of the support part 221, and the first limiting groove 222 and the second limiting groove 231 align to form a complete shaping hole 1. The inner wall of the shaping hole 1 completely wraps and constrains the outer periphery of the pin 22. Figure 6 As shown.

[0039] Then, the robotic arm 100 descends, the gripper 110 firmly clamps the resistor 21, and the lifting frame 120 drives the gripper 110 upward, applying a vertical upward pulling force to the resistor 20. Under the action of the pulling force, the pin 22 passes through the shaping hole 1 as a whole. The wall of the shaping hole 1 applies radial constraint to the pin 22, forcibly straightening the pin 22, which was originally bent in any direction. Figure 6 The state shown becomes Figure 7 As shown, multi-directional straightening can be completed with a single pull.

[0040] During the straightening process, the surface of pin 22 undergoes relative sliding friction with the wall of the shaping hole 1. The hole wall scrapes against the surface of pin 22, removing residual solder slag online. The scraped-off solder slag falls out through intervals and does not accumulate inside the device.

[0041] After straightening and slag removal are completed, the drive cylinder 240 drives the movable plate 230 to retract, separating it from the center limit plate 220 and releasing the straightened pin 22. The robot arm 100 rises and resets, and the straightening platform 200 slides along the linear slide rail 300 to deliver the processed resistor 20, which can be picked up by the operator or downstream equipment.

[0042] Furthermore, the first limiting groove 222 includes a tapered guide section 2221 and a straightening section 2222, with the tapered guide section 2221 located above the straightening section 2222. The diameter of the tapered guide section 2221 decreases from the side away from the straightening section 2222 to the side closer to the straightening section 2222, forming an overall tapered hole shape that is larger at the top and smaller at the bottom. The straightening section 2222 is cylindrical, with a thickness less than that of the tapered guide section 2221, and its diameter matches the outer diameter of the pin 22. When the movable plate 230 and the central limiting plate 220 are closed, the shaping hole 1 formed by the first limiting groove 222 and the second limiting groove 231 is funnel-shaped, with a tapered guide section at the top and a cylindrical straightening section at the bottom.

[0043] It should be noted that during the placement of resistor 20, pin 22 first enters the tapered guide portion 2221. The large-diameter opening of the tapered guide portion 2221 can accommodate the bent pin 22. As the pin 22 goes deeper, the tapered surface guides the pin 22 smoothly into the straightening portion 2222 below. At this time, the center limiting plate 220 and the movable plate 230 are separated from each other. Since the movable plate 230 is in the retracted position, there is sufficient clearance around the pin 22. In this way, even if the pin 22 undergoes a large degree of bending deformation, it can be smoothly loaded onto the center limiting plate 220.

[0044] The resistor pin straightening device 10 described above has the following beneficial effects: 1. This device features multiple support sections 221 with increasing widths on the central limiting plate 220 along the linear slide rail 300, each adapted to resistor products of different sizes and specifications. When changing product specifications, the straightening platform 200 is simply driven by the linear motor 400 to slide along the linear slide rail 300, moving the support section 221 that matches the current resistor size to below the robot arm 100 to complete the product changeover. No disassembly or replacement of any positioning components in contact with the resistor is required throughout the process, significantly reducing downtime for product changeovers. This effectively solves the problems of long downtime and poor adaptability to flexible production of multiple product types caused by mold changes in existing straightening devices.

[0045] 2. During the placement of resistor 20, the central limiting plate 220 and the movable plate 230 are separated. Pin 22 only needs to pass through the first limiting groove 222, without simultaneously aligning with the second limiting groove 231, providing ample clearance around pin 22. Simultaneously, the tapered guide portion 2221 at the top of the first limiting groove 222 is a tapered hole shape, wider at the top and narrower at the bottom. Its large-diameter opening can accommodate pin 22 that has bent or deformed in any direction, and the gradually narrowing tapered surface smoothly guides pin 22 into the straightening portion 2222 below. This structural design significantly reduces the difficulty of placing resistor 20. Even if pin 22 undergoes significant bending or deformation, it can be successfully installed, improving the device's fault tolerance and ease of operation.

[0046] 3. During the straightening operation, the movable plate 230 and the central limiting plate 220 close together, and the first limiting groove 222 and the second limiting groove 231 cooperate to form the shaping hole 1. The inner wall of the shaping hole 1 completely wraps and constrains the outer periphery of the pin 22. The robot arm 100 clamps the resistor 21 and applies a vertically upward pulling force, driving the pin 22 to pass through the shaping hole 1 as a whole. By utilizing the comprehensive circumferential constraint of the shaping hole 1 on the pin 22, regardless of how randomly the bending direction of the pin 22 changes, multi-directional simultaneous straightening can be achieved through a single pulling action, overcoming the shortcomings of fixed straightening structures that are difficult to cope with uncertain bending directions and irregular deformation shapes of the pins.

[0047] 4. During the process of lead 22 passing through the shaping hole 1, the hole wall of shaping hole 1 straightens lead 22 while also scraping its surface, effectively removing residual solder slag online. This integrates the straightening and slag removal processes into the same station and action, eliminating the need to transfer products to other stations for separate cleaning. This eliminates the risk of multiple transfers and secondary deformation caused by inconsistent process locations, effectively shortening the processing cycle for a single product and improving the overall production efficiency of resistors. The scraped-off solder slag falls directly out through the gap between the central limiting plate 220 and the edge of the substrate 210, preventing slag accumulation within the device and ensuring the reliability of continuous operation.

[0048] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these all fall within the protection scope of the present invention. Therefore, the protection scope of this invention patent should be determined by the appended claims.

Claims

1. A resistor lead straightening device for straightening deformed leads, characterized in that, include: Robotic arm, straightening platform and linear guide rail; The straightening platform includes a base plate, a central limiting plate, movable plates located on both sides of the central limiting plate, and a driving cylinder. The central limiting plate is provided with multiple support parts, which are used to bear resistors. The driving cylinder is used to drive the movable plates to contact or separate from the central limiting plate. A first limiting groove is provided on the edge of the support part, and a second limiting groove is provided on both of the movable plates. When the movable plate contacts the support part, the first limiting groove and the second limiting groove both contact the outer wall of the pin, and the first limiting groove and the second limiting groove cooperate to form a shaping hole. The robotic arm is used to move the resistor away from the support and to make the pin pass through the molding hole.

2. The resistor lead straightening device according to claim 1, characterized in that, The first limiting groove includes a tapered guide portion and a straightening portion. The tapered guide portion decreases in size from the side away from the straightening portion to the side closer to the straightening portion. The straightening portion contacts the outer wall of the pin.

3. The resistor lead straightening device according to claim 2, characterized in that, The shaping hole is funnel-shaped, and only the straightening part contacts the pin.

4. The resistor lead straightening device according to claim 2, characterized in that, The support portion is linearly distributed along the extension direction of the linear slide rail, and the width of the support portion increases along the extension direction of the linear slide rail.

5. The resistor lead straightening device according to claim 2, characterized in that, The movable plate has a stepped docking part on the side facing the central limiting plate, and the second limiting groove is located on the docking part.

6. The resistor lead straightening device according to claim 1, characterized in that, The cross-section of the central limiting plate is "T" shaped, and there is a gap between the support part and the substrate.

7. The resistor lead straightening device according to claim 1, characterized in that, It also includes a linear motor, which is used to drive the straightening platform to translate along the linear slide rail.

8. The resistor lead straightening device according to claim 1, characterized in that, The robotic arm includes a gripper and a lifting frame. The gripper is located above the substrate and is used to hold a resistor. The lifting frame is used to move the gripper closer to or away from the substrate.

9. The resistor lead straightening device according to claim 1, characterized in that, Each of the aforementioned support portions is provided with a positioning boss that matches the resistor.

10. A calibration method, based on the resistor pin calibration device according to any one of claims 2 to 9, characterized in that, Includes the following steps: Step 1: Confirm the specifications and dimensions of the resistor to be calibrated, and use this to drive the calibrating platform to move along the linear slide rail, so that the support part matching the size of the resistor to be calibrated moves directly under the robot arm; Step 2: Place the resistor on the support and apply downward pressure to make the pins pass through the first limiting groove; Step 3: Drive the cylinder to push the movable plate toward the center limiting plate, so that the first limiting groove and the second limiting groove are aligned to form a complete shaping hole. The inner wall of the shaping hole completely covers the outer periphery of the pin. Step 4: After the robotic arm grips the resistor, it applies a vertically upward pulling force to make the pins pass through the molding hole and straighten the pins. Step 5: The robotic arm returns the resistor to its original position, completing the calibration operation.

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