Charging gun of a visual-pressure dual-feedback plugging and calibrating mechanical device

Abstract

The invention discloses a charging gun based on a vision-pressure dual-feedback plug-in calibration mechanical device, which relates to the technical field of charging guns. The charging gun includes a charging gun body and a moving frame arranged at the top of the place to be charged. An adjustment box electrically connected to the charging gun body through a docking wire is slidably arranged inside the moving frame, and an adjustment part for connecting the charging gun body is arranged below the adjustment box. For the charging gun based on the vision-pressure dual-feedback plug-in calibration mechanical device, the adjustment box drives the adjustment part to be adjusted to a position adapted to the vehicle body. The positions of the vehicle body and the charging port are scanned through the main lens and the auxiliary lens to obtain the three-dimensional coordinates of the charging port for subsequent plugging. The strain gauge can be used to monitor the plugging pressure in real time, and further adjust the gun head posture of the charging gun body. By fusing the vision pose data and the pressure gradient data, the optimal plugging trajectory is output, so as to complete the precise plugging operation of the charging gun body.

Description

Technical Field

[0001] The present invention relates to the technical field of charging guns, and specifically to a charging gun based on a visual-pressure dual-feedback plugging and calibration mechanical device. Background Art

[0002] A charging gun, namely a new energy vehicle charging gun, is a key device connecting a new energy vehicle to a charging pile or a charging station, responsible for transmitting electric energy from a power source to the battery of the new energy vehicle. Its core function is to achieve safe and efficient electric energy transmission, ensuring that the new energy vehicle can quickly and stably replenish its power. Most of the docking of traditional charging guns is achieved by manual docking. There are also some vehicles that use mechanical control methods to control the automatic docking of the charging gun for subsequent charging operations (such as Tesla V4 supercharging piles and NIO battery swap stations), which generally adopt mechanical automatic adjustment to improve the accuracy, efficiency, and safety of the charging gun docking.

[0003] Prior Art One (a Chinese patent with the publication number CN206313168U and the publication date of July 7, 2017): A charging gun includes a charging gun body, a charging gun handle provided at one end of the charging gun body, and a charging gun interface provided at the other end of the charging gun body and away from the charging gun handle; three first pins, two second pins, and three third pins are provided in the charging gun interface; the three first pins are adjacent to each other and arranged in an isosceles triangle; the two second pins are located outside the isosceles triangle; the two second pins are respectively located between two first pins on the two waists of the isosceles triangle, and each second pin is tangent to the first pin close to the base of the isosceles triangle; the two third pins are respectively located between a second pin and the first pin at the top angle of the isosceles triangle; the other third pin is located between the two first pins on the base of the isosceles triangle. And Prior Art Two (a Chinese patent with the publication number CN222563108U and the publication date of March 4, 2025): A charging gun includes a charging gun body and a locking sleeve. The charging gun body includes a charging gun main body and an adapter. The adapter is detachably connected to the charging gun main body. A buckle is provided on the charging gun main body, and the buckle can be engaged with the adapter to lock the adapter connected to the charging gun main body to the charging gun main body; the locking sleeve is sleeved on the adapter, and a protruding cavity shell is formed on the locking sleeve, and a locking member is detachably assembled on the protruding cavity shell. When the locking member is assembled to the protruding cavity shell, the locking member can be connected to the protruding cavity shell, and at least part of the locking member is disposed on the side of the buckle away from the adapter and abuts against the buckle for limiting the buckle to the adapter. The locking member connected to the protruding cavity shell abuts against the buckle on the charging gun main body, so that the buckle on the charging gun main body can always be pressed by the locking member on the adapter, preventing the adapter from shifting on the charging gun main body and ensuring the normal operation of the charging gun.

[0004] Although it is possible to achieve quick docking of the charging gun in the prior art, most of the docking methods are manual, and it is impossible to provide feedback on the docking situation. During docking, the phenomenon of misalignment may occur, thus affecting the normal use of the charging port.

[0005] Therefore, we have proposed a charging gun based on a visual-pressure dual-feedback plugging and calibration mechanical device to solve the problems mentioned above. Summary of the Invention

[0006] The purpose of the present invention is to provide a charging gun based on a visual-pressure dual-feedback plugging and calibration mechanical device to solve the problem that the charging gun in the current market cannot provide feedback on the docking situation during docking, and the phenomenon of misalignment may occur during docking, thus affecting the normal use of the charging port as mentioned in the above background technology.

[0007] To achieve the above purpose, the present invention provides the following technical solutions: A charging gun based on a visual-pressure dual-feedback plugging and calibration mechanical device includes a charging gun body and a moving frame arranged at the top of the place to be charged. An adjustment box electrically connected to the charging gun body through a docking wire is slidably arranged inside the moving frame, and an adjustment member for connecting the charging gun body is arranged below the adjustment box. An observation box is fixedly connected to the upper side of the end of the adjustment member, and a main lens and a swinging mechanism are arranged outside the observation box. The swinging mechanism drives the auxiliary lens it contains to swing to achieve precise calibration of the plugging position. At the same time, a strain gauge for feedback calibration of the plugging pressure is arranged between the front end of the observation box and the docking port of the charging gun body, and observation points are arranged on the strain gauge. A protection mechanism is arranged on the side of the main lens, and a magnetic locking tongue is arranged at the end of the charging gun body. The magnetic locking tongue deforms through the operation of the protection mechanism to realize the docking limit operation of the charging gun body.

[0008] Preferably, the protection mechanism includes a telescopic rod fixedly connected to the upper surface of the observation box. A pressing plate is fixedly connected to the end of the telescopic rod, and a rotating rod is hinged to the side of the pressing plate. A sliding groove is opened on the front side of the observation box, and a sliding block is nested and connected inside the sliding groove. A linkage plate is fixedly connected to the outside of the sliding block, and a protection plate is fixedly connected to the inside of the linkage plate. The upper side of the protection plate is hinged to the other end of the rotating rod.

[0009] Preferably, the sliding block and the sliding groove form a sliding structure through the linkage plate, the rotating rod and the protection plate form a rotating structure through the pressing plate, and two groups of protection plates are symmetrically distributed about the center point of the main lens.

[0010] Preferably, a limiting rod is fixedly connected to the side of the upper surface of the observation box. The pressing plate is nested on the outer side of the limiting rod, and an airbag is fixedly connected between the lower surface of the pressing plate and the upper surface of the observation box.

[0011] Preferably, the swinging mechanism includes a communicating pipe, which is disposed through the side of the airbag. An auxiliary pipe is disposed through between the two communicating pipes. A regulating shaft is nested inside the auxiliary pipe. A cleaning pipe is disposed through the side of the lower communicating pipe. A fan is fixedly connected to the outer side of the regulating shaft. A fixing plate is fixedly connected to the side of the regulating member. A swinging plate is rotatably connected to the inner side of the fixing plate. An adjusting groove is formed in the middle of the upper side of the swinging plate. At the same time, an auxiliary lens for assisting in imaging is fixedly connected to the lower end of the swinging plate. A turntable is fixedly connected to the outer end of the regulating shaft. A sliding rod is fixedly connected to the outer edge of the turntable. The sliding rod is nested inside the adjusting groove.

[0012] Preferably, the regulating shaft forms a rotating structure with the auxiliary pipe through the fan, and the fan is located at the docking center position of the auxiliary pipe.

[0013] Preferably, the sliding rod forms a sliding structure with the adjusting groove through the turntable. The swinging plate forms a rotating structure with the fixing plate through the sliding rod. Two groups of auxiliary lenses are symmetrically arranged on the left and right directly below the main lens.

[0014] Preferably, electric contact pieces are fixedly connected to the inner wall of the sliding groove and the side of the slider. An electromagnet is fixedly connected above the end of the charging gun body. The electromagnet is electrically connected to the electric contact piece. A magnetic locking tongue is also fixedly connected above the end of the charging gun body.

[0015] Preferably, a trapezoidal protrusion is provided at the end of the magnetic locking tongue. The magnetic locking tongue is elastically structured. The magnetism of the magnetic locking tongue is opposite to that of the electromagnet.

[0016] Compared with the prior art, the beneficial effects of the present invention are as follows:

[0017] The adjustment box drives the adjusting member to adjust to a position adapted to the vehicle body, and controls the charging gun body to move to the corresponding charging port. The positions of the vehicle body and the charging port are scanned by the main lens and the auxiliary lens to obtain the three-dimensional coordinates of the charging port for subsequent plugging. The pressure of the plugging can be monitored in real time through the strain gauge, and the gun head posture of the charging gun body is further adjusted. By fusing the visual pose data and the pressure gradient data, the optimal plugging trajectory is output, thereby completing the precise plugging operation of the charging gun body.

[0018] The pressure plate drives the rotating rod to rotate synchronously to both sides, so that the protective plates slide to both sides. When the protective plates slide and expand to both sides, the protective plates do not block the main lens when sliding, and the main lens can perform scanning operations. When scanning is not required, the two sets of protective plates are adjacent to each other and block the main lens, thereby protecting the main lens and preventing damage to the main lens.

[0019] When the pressure plate moves downward, it can squeeze the airbag, and the gas inside the airbag is ejected outward through the auxiliary tube. The ejected gas blows toward the auxiliary lens, thereby cleaning the dust on the surface of the auxiliary lens, so that the auxiliary lens can collect data more clearly.

[0020] When the gas passes through the auxiliary pipe, it will blow the fan, thereby driving the adjusting shaft to rotate through the fan. At this time, the turntable rotates, causing the slide bar to resist the swing plate, so that the swing plate drives the auxiliary lens set at the lower end to swing synchronously, realizing data collection at different positions over a wide range, reducing the error in collecting the three-dimensional coordinate position data of the charging port, and facilitating the subsequent plug-in operation.

[0021] When the protective plate is unfolded to both sides, the two groups of electrical contact pieces arranged between the sides of the slide groove and the slider contact each other. At this time, the electromagnetic block is energized and magnetic, and the magnetic lock tongue bends toward the side of the electromagnetic block. At this time, the charging gun body can be docked with the charging port. When the two groups of electrical contact pieces are not in contact, the electromagnetic block is not magnetic at this time, and the magnetic lock tongue is reset. The protruding position set at the lower end of the magnetic lock tongue can be engaged with the charging port, thereby reducing the occurrence of loosening of the charging gun body. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 It is a schematic diagram of the three-dimensional structure of the present invention;

[0023] Figure 2 This is a schematic diagram of the three-dimensional structure of the charging gun of the present invention;

[0024] Figure 3 It is a schematic diagram of the three-dimensional structure of the observation box of the present invention;

[0025] Figure 4 It is a schematic diagram of the three-dimensional structure of the rotating rod of the present invention;

[0026] Figure 5 This is a schematic diagram of the three-dimensional structure of the auxiliary lens of the present invention;

[0027] Figure 6 This is a schematic diagram of the three-dimensional structure of the auxiliary tube of the present invention;

[0028] Figure 7 This is a schematic diagram of the three-dimensional cross-sectional structure of the auxiliary tube of the present invention;

[0029] Figure 8 Schematic three-dimensional structure diagram of the electrical contact piece of the present invention;

[0030] Figure 9 Schematic three-dimensional structure diagram of the strain gauge of the present invention;

[0031] Figure 10 Schematic structure diagram showing the deformation of the magnetic lock tongue of the present invention.

[0032] In the figure: 1. Moving frame; 2. Adjusting box; 3. Adjusting member; 4. Charging gun body; 5. Docking wire; 6. Observation box; 7. Protection plate; 8. Main lens; 9. Telescopic rod; 10. Pressing plate; 11. Airbag; 12. Limiting rod; 13. Linkage plate; 14. Chute; 15. Electrical contact piece; 16. Rotating rod; 17. Connecting pipe; 18. Auxiliary pipe; 19. Dust cleaning pipe; 20. Fixed plate; 21. Adjusting shaft; 22. Swing plate; 23. Auxiliary lens; 24. Slide bar; 25. Adjusting groove; 26. Fan; 27. Turntable; 28. Slide block; 29. Strain gauge; 30. Observation point; 31. Electromagnetic block; 32. Magnetic lock tongue. Specific embodiments

[0033] The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0034] Embodiment 1: As Figure 1 , Figure 2 and Figure 9For the technical solution shown, the present invention provides the following technical solution: A charging gun based on a vision-pressure dual-feedback plugging and calibration mechanical device, which discloses a main lens 8, an auxiliary lens 23, and a strain gauge 29 to achieve dual feedback of vision pose data and pressure gradient data: A charging gun body 4 and a moving frame 1 provided at the top of the charging location. An adjustment box 2 is slidably arranged inside the moving frame 1 and is electrically connected to the charging gun body 4 through a docking wire 5. And a regulating member 3 for connecting the charging gun body 4 is provided below the adjustment box 2. The upper side of the end of the regulating member 3 is fixedly connected to an observation box 6. And a swinging mechanism is arranged outside the observation box 6. The swinging mechanism drives the auxiliary lens 23 it contains to swing to achieve precise calibration of the plugging position. At the same time, a strain gauge 29 for feedback calibration of the plugging pressure is arranged between the front end of the observation box 6 and the docking port of the charging gun body 4. And an observation point 30 is provided on the strain gauge 29. A protection mechanism for protecting the main lens 8 is arranged on the side of the main lens 8. A magnetic locking tongue 32 is arranged at the end of the charging gun body 4. The magnetic locking tongue 32 deforms through the operation of the protection mechanism to achieve the docking limit operation of the charging gun body 4.

[0035] The adjustment box 2 can slide along the moving frame 1 to adjust the regulating member 3 to a position adapted to the vehicle body. At this time, the regulating member 3 controls the charging gun body 4 to move to the corresponding charging port. Through the mutual cooperation and scanning of the main lens 8 and the auxiliary lens 23, the positions of the vehicle body and the charging port are scanned. And the position of the charging port is identified by the image processing unit arranged inside the adjustment box 2 to obtain the three-dimensional coordinates of the charging port. And through the synchronous algorithm calculation and the mutual cooperation with the regulating member 3, the relative pose of the charging gun body 4 and the charging port is adjusted for plugging. At the same time, a strain gauge 29 is arranged at the end of the charging gun body 4. The plugging pressure can be monitored in real time through the strain gauge 29. And the distribution of the pressure magnitude is received more carefully through the observation point 30 arranged at the end of the strain gauge 29. When the strain gauge 29 senses uneven pressure distribution, the regulating member 3 is controlled by the control system arranged inside the adjustment box 2 to further adjust the posture of the gun head of the charging gun body 4. By fusing the vision pose data and the pressure gradient data with high frequency and low precision, the optimal plugging trajectory is output, thereby completing the precise plugging operation of the charging gun body 4.

[0036] Embodiment 2: As Figure 3 , Figure 4 , Figure 8 and Figure 10For the technical solution shown, the present invention provides the following technical solution: A charging gun based on a vision-pressure dual-feedback plugging and calibration mechanical device discloses a protection mechanism. The protection mechanism protects the main lens 8 to prevent the main lens 8 from being damaged: The protection mechanism includes a telescopic rod 9. The telescopic rod 9 is fixedly connected to the upper surface of the observation box 6, and the end of the telescopic rod 9 is fixedly connected to a pressing plate 10. A rotating rod 16 is hinged to the side of the pressing plate 10. A sliding groove 14 is formed in the front side of the observation box 6, and a slider 28 is nested in the sliding groove 14. A linkage plate 13 is fixedly connected to the outer side of the slider 28. At the same time, a protection plate 7 is fixedly connected to the inner side of the linkage plate 13. The upper side of the protection plate 7 is hinged to the other end of the rotating rod 16. The slider 28 forms a sliding structure with the sliding groove 14 through the linkage plate 13. The rotating rod 16 forms a rotating structure with the protection plate 7 through the pressing plate 10. Two groups of protection plates 7 are symmetrically distributed about the center point of the main lens 8. Electric contact pieces 15 are fixedly connected to the inner wall of the sliding groove 14 and the side of the slider 28. An electromagnet 31 is fixedly connected above the end of the charging gun body 4. The electromagnet 31 is electrically connected to the electric contact piece 15. A magnetic locking tongue 32 is also fixedly connected above the end of the charging gun body 4. A trapezoidal protrusion is provided at the end of the magnetic locking tongue 32. The magnetic locking tongue 32 is elastically structured. The magnetism of the magnetic locking tongue 32 is opposite to the magnetism of the electromagnet 31.

[0037] When it is necessary to scan the position of the vehicle body and the charging port, the telescopic rod 9 is activated. At this time, the telescopic rod 9 can drive the pressing plate 10 to move downward, so as to drive the rotating rod 16 to rotate synchronously to both sides through the pressing plate 10. Under the pushing action of the rotating rod 16, the protection plate 7 can slide synchronously to both sides. When the protection plate 7 slides, it will drive the slider 28 to slide along the inside of the chute 14. By limiting the slider 28 through the chute 14, the stability of the protection plate 7 during sliding can be further improved. When the protection plate 7 slides and unfolds to both sides, the protection plate 7 does not block the main lens 8 during sliding, and the main lens 8 can perform scanning operations. When scanning is not required, the two protection plates 7 are adjacent to each other and block the main lens 8, thereby protecting the main lens 8 and preventing the main lens 8 from being damaged. When the protection plate 7 unfolds to both sides, the slider 28 will move toward the side of the chute 14. At this time, the two electric contact pieces 15 provided between the side of the chute 14 and the side of the slider 28 are in contact with each other, so that the electromagnetic block 31 electrically connected to them is energized and has magnetism. The magnetic electromagnetic block 31 will attract the magnetic locking tongue 32 at this time, so that the magnetic locking tongue 32 bends toward the electromagnetic block 31. At this time, the charging gun body 4 can be docked with the charging port. After the docking is completed, the two protection plates 7 move toward each other and protect the main lens 8. The two electric contact pieces 15 are not in contact with each other, and the electromagnetic block 31 does not have magnetism at this time. The magnetic locking tongue 32 is reset, and the charging port can be clamped through the protruding position provided at the lower end of the magnetic locking tongue 32, so as to reduce the phenomenon of the charging gun body 4 becoming loose.

[0038] Embodiment 3: As Figures 5 - 7The technical scheme shown in the invention provides the following technical scheme: a charging gun based on a visual-pressure dual feedback plug-in calibration mechanical device discloses a swing mechanism, which drives the auxiliary lens 23 to swing to realize data collection at different positions in a wide range: a limit rod 12 is fixedly connected to the side of the upper surface of the observation box 6, a pressure plate 10 is nested and connected to the outside of the limit rod 12, and an airbag 11 is fixedly connected between the lower surface of the pressure plate 10 and the upper surface of the observation box 6, the swing mechanism includes a connecting pipe 17, the connecting pipe 17 is arranged through the side of the airbag 11, and an auxiliary pipe 18 is arranged through the two groups of connecting pipes 17, and an adjusting shaft 21 is nested inside the auxiliary pipe 18, and a dust cleaning pipe 19 is arranged through the side of the lower connecting pipe 17, and a fan is fixedly connected to the outside of the adjusting shaft 21 26, a fixed plate 20 is fixedly connected to the side of the adjusting member 3, and a swing plate 22 is rotatably connected to the inner side of the fixed plate 20, and an adjusting slot 25 is opened in the middle of the upper side of the swing plate 22, and an auxiliary lens 23 for auxiliary video recording is fixedly connected to the lower end of the swing plate 22, a turntable 27 is fixedly connected to the outer end of the adjusting shaft 21, and a slide bar 24 is fixedly connected to the outer edge of the turntable 27, and the slide bar 24 is nested in the adjusting slot 25, the adjusting shaft 21 forms a rotating structure with the auxiliary tube 18 through the fan 26, and the fan 26 is located at the docking center of the auxiliary tube 18, the slide bar 24 forms a sliding structure with the adjusting slot 25 through the turntable 27, the swing plate 22 forms a rotating structure with the fixed plate 20 through the slide bar 24, and two groups of auxiliary lenses 23 are symmetrically arranged about the left and right sides of the main lens 8.

[0039] When the pressing plate 10 moves downward, it can synchronously slide along the limiting rod 12 to stably squeeze the airbag 11. The gas inside the squeezed airbag 11 will be transported to the auxiliary pipe 18 through the connecting pipe 17 and ejected outward through the auxiliary pipe 18. The ejected gas blows toward the auxiliary lens 23, thereby cleaning the dust on the surface of the auxiliary lens 23, so that the auxiliary lens 23 can collect data more clearly. When the airbag 11 is supplied to the inside of the cleaning pipe 19 through the connecting pipe 17, it will pass through the auxiliary pipe 18. At this time, the gas will blow the auxiliary pipe 18. The fan 26 is arranged, so that the adjusting shaft 21 is driven to rotate by the fan 26. When the adjusting shaft 21 is rotating, the turntable 27 is synchronously driven to rotate, thereby driving the slide bar 24 to slide inside the adjusting slot 25 provided on the swing plate 22. When the slide bar 24 slides, it resists the swing plate 22, so that the swing plate 22 swings left and right, driving the auxiliary lens 23 provided at the lower end to swing synchronously, thereby realizing data collection at different positions in a wide range, reducing the error in the collection of the three-dimensional coordinate position data of the charging port, and facilitating the subsequent plug-in operation.

[0040] Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A charging gun based on a vision-pressure dual-feedback plug-in calibration mechanical device, comprising a charging gun body (4) and a moving frame (1) arranged at the top of the place to be charged. An adjustment box (2) electrically connected to the charging gun body (4) through a docking wire (5) is slidably arranged inside the moving frame (1), and an adjusting member (3) for connecting the charging gun body (4) is arranged below the adjustment box (2), characterized in that, On the upper side of the end of the adjusting member (3), an observation box (6) is fixedly connected, and a main lens (8) and a swinging mechanism are arranged on the outer side of the observation box (6). The swinging mechanism drives the auxiliary lens (23) it contains to swing to achieve precise alignment of the insertion position. At the same time, a strain gauge (29) for feedback calibration of the insertion pressure is arranged between the front end of the observation box (6) and the interface of the charging gun body (4), and an observation point (30) is arranged on the strain gauge (29). A protection mechanism for protecting the main lens (8) is arranged on the side of the main lens (8). A magnetic locking tongue (32) is arranged at the end of the charging gun body (4). The magnetic locking tongue (32) deforms through the operation of the protection mechanism to realize the docking limit operation of the charging gun body (4); the protection mechanism includes a telescopic rod (9). The telescopic rod (9) is fixedly connected to the upper surface of the observation box (6), and the end of the telescopic rod (9) is fixedly connected to a pressing plate (10). A rotating rod (16) is hinged to the side of the pressing plate (10). A sliding groove (14) is formed in the front side of the observation box (6), and a slider (28) is nested in the sliding groove (14). A linkage plate (13) is fixedly connected to the outer side of the slider (28). At the same time, a protection plate (7) is fixedly connected to the inner side of the linkage plate (13). The upper side of the protection plate (7) is hinged to the other end of the rotating rod (16). A main lens (8) for visual feedback of the insertion is arranged on the front side of the observation box (6). The slider (28) forms a sliding structure with the sliding groove (14) through the linkage plate (13). The rotating rod (16) forms a rotating structure with the protection plate (7) through the pressing plate (10). Two groups of protection plates (7) are symmetrically distributed about the center point of the main lens (8). Electric contact pieces (15) are fixedly connected to the inner wall of the sliding groove (14) and the side of the slider (28). An electromagnetic block (31) is fixedly connected above the end of the charging gun body (4). The electromagnetic block (31) is electrically connected to the electric contact piece (15). A magnetic locking tongue (32) is also fixedly connected above the end of the charging gun body (4).

2. The charging gun of the visual-pressure dual-feedback plugging and calibrating mechanical device according to claim 1, characterized in that: A limiting rod (12) is fixedly connected to the side of the upper surface of the observation box (6). The pressing plate (10) is nested on the outer side of the limiting rod (12). An airbag (11) is fixedly connected between the lower surface of the pressing plate (10) and the upper surface of the observation box (6).

3. The charging gun of the visual-pressure dual-feedback plug-in calibration mechanical device according to claim 2, characterized in that: The swing mechanism includes a communicating pipe (17), the communicating pipe (17) is disposed through the side of the airbag (11), and an auxiliary pipe (18) is disposed through between the two groups of communicating pipes (17), and a regulating shaft (21) is nested inside the auxiliary pipe (18), and a dust cleaning pipe (19) is disposed through the side of the lower communicating pipe (17). A fan (26) is fixedly connected to the outer side of the regulating shaft (21). A fixing plate (20) is fixedly connected to the side of the regulating member (3), and a swing plate (22) is rotatably connected to the inner side of the fixing plate (20). An adjusting groove (25) is formed in the middle of the upper side of the swing plate (22). At the same time, an auxiliary lens (23) for assisting in imaging is fixedly connected to the lower end of the swing plate (22). The outer end of the regulating shaft (21) is fixedly connected to a turntable (27), and a sliding rod (24) is fixedly connected to the outer edge of the turntable (27), and the sliding rod (24) is nested inside the adjusting groove (25).

4. The charging gun of the visual-pressure dual-feedback plug-in calibration mechanical device according to claim 3, characterized in that: The regulating shaft (21) and the auxiliary pipe (18) form a rotating structure through the fan (26), and the fan (26) is located at the docking center position of the auxiliary pipe (18).

5. The charging gun of the vision-pressure dual-feedback plug-in calibration mechanical device according to claim 4, characterized in that: The sliding rod (24) and the adjusting groove (25) form a sliding structure through the turntable (27). The swing plate (22) and the fixing plate (20) form a rotating structure through the sliding rod (24). Two groups of auxiliary lenses (23) are symmetrically arranged on the left and right directly below the main lens (8).

6. The charging gun of the visual-pressure dual-feedback plug-in calibration mechanical device according to claim 5, wherein: A trapezoidal protrusion is provided at the end of the magnetic locking tongue (32). The magnetic locking tongue (32) is arranged in an elastic structure, and the magnetism of the magnetic locking tongue (32) is opposite to that of the electromagnet block (31).

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