Electric locomotive pantograph lifting control system

Abstract

The invention relates to the field of electric locomotives, and particularly discloses an electric locomotive pantograph lifting control system which comprises a control unit, a sensor unit, a power unit and a communication unit. The sensor unit comprises a contact force sensor, a position sensor and an environment sensor, the contact force sensor is used for monitoring the contact force between the pantograph and a contact net, the position sensor is used for detecting the real-time position of the pantograph, and the environment sensor is used for monitoring the real-time position of the pantograph. The environment sensor is used for detecting the surrounding environment condition of the pantograph during working, the power unit is connected with the control unit to achieve lifting control over the pantograph, and the communication unit is used for data communication between the interior of the system and a locomotive control system; the pantograph is accurately controlled to ascend and descend, the contact stability of the pantograph and the contact net is improved, and therefore the operation efficiency and safety of an electric locomotive are improved.

Description

Technical Field

[0001] The invention relates to the field of electric locomotives, in particular to an electric locomotive pantograph lifting and lowering control system. Background Art

[0002] Electric locomotives are connected to the overhead contact network (contact wire) through pantographs to obtain the power required for operation. The pantograph lifting and lowering control directly affects the normal operation of electric locomotives, especially in the case of high-speed driving and frequent line changes. It is necessary to ensure that the pantograph can complete the lifting and lowering action quickly and stably to ensure that the pantograph and the contact network maintain good contact. Therefore, the response speed, accuracy and stability of the pantograph lifting and lowering control system have become key factors for the safe operation of electric locomotives.

[0003] Traditional pantograph lifting and lowering control systems usually rely on simple mechanical or electrical control, which cannot achieve precise real-time adjustment and are easily affected by line conditions and weather conditions, resulting in arcing between the pantograph and the contact network, affecting the power receiving effect and equipment life. Summary of the invention

[0004] In view of the existing problems, the present invention provides an electric locomotive pantograph lifting and lowering control system to achieve precise control of the pantograph lifting and lowering, improve the contact stability between the pantograph and the contact network, thereby improving the operating efficiency and safety of the electric locomotive, and can effectively solve the problems raised in the background technology.

[0005] To solve the above problems, the present invention adopts the following technical solutions:

[0006] An electric locomotive pantograph lifting and lowering control system comprises a control unit, a sensor unit, a power unit and a communication unit, wherein:

[0007] The control unit uses an embedded microcontroller to receive operation instructions from the driver's console and feedback signals from the sensor unit, and control the pantograph raising and lowering operations based on the set logic algorithm;

[0008] The sensor unit includes a contact force sensor, a position sensor and an environmental sensor. The contact force sensor is used to monitor the contact force between the pantograph and the contact network. The position sensor is used to detect the real-time position of the pantograph. The environmental sensor is used to detect the surrounding environmental conditions of the pantograph.

[0009] The power unit is connected to the control unit, and realizes the lifting and lowering control of the pantograph by receiving the control signal sent by the control unit;

[0010] The communication unit is used for data communication within the system and with the locomotive control system to ensure the coordination of the pantograph raising and lowering control system and the overall operation of the locomotive.

[0011] As a further solution of the present invention: the control unit adopts a closed-loop control strategy and performs feedback adjustment based on real-time monitoring values ​​of the contact force and the pantograph position to maintain stable contact between the pantograph and the contact network.

[0012] As a further solution of the present invention: the control method of the closed-loop control strategy comprises the following steps:

[0013] 1) Detection stage: The sensor unit continuously collects the contact force between the pantograph and the contact network and the pantograph position, and feeds the data back to the control unit;

[0014] 2) Control calculation: The microcontroller of the control unit processes the sensor data in real time and determines the target lifting and lowering position of the pantograph according to the preset contact force threshold and position range;

[0015] 3) Feedback adjustment: Based on the real-time monitored contact force and pantograph position, the power unit dynamically adjusts the output parameters of the lift to achieve fine-tuning of the pantograph position;

[0016] 4) Abnormal handling: When the environmental sensor detects special circumstances (such as bad weather or complex track environment), the power unit automatically adjusts the lifting and lowering strategy to prevent abnormal conditions between the pantograph and the contact network.

[0017] As a further solution of the present invention: a contact force threshold model is preset in the control unit, and the control unit compares the output value of the contact force sensor with the preset contact force threshold. When the contact force deviates from the preset range, the output of the power unit is adjusted in real time to restore the preset contact force.

[0018] As a further solution of the present invention: the position sensor monitors the real-time position of the pantograph and feeds back the monitoring value to the control unit, and controls the lifting height of the pantograph through a closed-loop control strategy.

[0019] As a further solution of the present invention: it also includes an electrical isolation module, which uses photoelectric isolation or magnetic isolation technology to isolate the sensor unit from the high voltage electricity to ensure system safety.

[0020] As a further solution of the present invention: the contact force sensor is installed on the pantograph slide plate to monitor the direct contact force between the pantograph and the contact network in real time.

[0021] As a further solution of the present invention: the position sensor is a displacement sensor, which is installed on the pantograph lifting mechanism and is used to detect the vertical height position of the pantograph.

[0022] As a further solution of the present invention: the environmental sensor includes at least a temperature and humidity sensor, a wind speed sensor and a pollutant sensor, which are used to detect the environmental temperature, humidity, wind speed and pollutants in the contact quality between the pantograph and the contact network, and send the detection data to the control unit, which adjusts the raising and lowering of the pantograph according to the environmental conditions.

[0023] As a further scheme of the present invention: it also includes a pantograph structure, which includes two insulating bases arranged side by side, two insulating shaft seats are fixed on the insulating bases, and the two insulating shaft seats are movably connected with bottom support rods, and the two ends of the bottom support rods on the two insulating bases are movably connected with a main shaft rod, both sides of the main shaft rod are fixedly connected with rotating blocks, and the rotating blocks are fixedly connected with a folding frame, and the upper ends of the folding frames connected to the rotating blocks on the two main shaft rods are movably connected to a support frame, a carbon slide plate is fixed on the support frame, and the rotating blocks at the same end of the two main shaft rods are connected by a linkage rod, and the two rotating blocks rotate in opposite directions under the linkage of the linkage rod.

[0024] As a further solution of the present invention: two groups of deflection blocks are fixed on the two main shaft rods, and the deflection blocks on the two main shaft rods are connected by a first spring.

[0025] As a further solution of the present invention: the folding frame includes two fixed rods and a U-shaped rod, the fixed rods are fixedly connected to the rotating block, the other ends of the two fixed rods are respectively rotatably connected to the U-shaped rod, and the transverse rods of the U-shaped rods are fixedly connected with two groups of parallel damping blocks, and the damping blocks on the two folding frames are fitted and movably connected to the support frame.

[0026] As a further solution of the present invention: T-shaped blocks are fixedly connected to both ends of the support frame, and both sides of the T-shaped block are fixedly connected to the U-shaped rod through a second spring.

[0027] As a further solution of the present invention: a disc is fixedly connected to the main shaft rod, a V-shaped rod is movably connected to the eccentric position of the disc, and both ends of the V-shaped rod are fixedly connected to fixed rods on both sides.

[0028] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention monitors the contact force between the pantograph and the contact network in real time, combines the data of the position sensor and the environmental sensor, and uses multi-sensor fusion technology to greatly improve the accuracy of contact force adjustment. The dynamic adjustment mechanism enables the pantograph to quickly adapt to changes in the height and pressure of the contact network, reduces problems such as poor contact, sparking, and slide wear, and extends the service life. It can sense complex environmental conditions in real time and adaptively adjust the height and pressure of the pantograph through the main control unit to ensure stability and reliability in harsh environments. It can maintain real-time connection with the locomotive main control system to achieve remote monitoring of the system status, fault alarm, and data recording, thereby improving the efficiency of operation monitoring, facilitating remote operation and maintenance and optimization, and providing comprehensive guarantees for the stable operation of electric locomotives under complex working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 This is a structural block diagram of a pantograph lifting and lowering control system for an electric locomotive;

[0030] Figure 2 It is a three-dimensional schematic diagram of the pantograph structure in a pantograph lifting and lowering control system for an electric locomotive;

[0031] Figure 3 It is a side schematic diagram of a pantograph structure in a pantograph lifting and lowering control system for an electric locomotive;

[0032] Figure 4 It is a schematic diagram of the installation structure of the pantograph base in a pantograph lifting and lowering control system for an electric locomotive;

[0033] Figure 5 The present invention is a schematic diagram of a folding frame of a pantograph structure in a pantograph lifting and lowering control system for an electric locomotive.

[0034] In the figure: 1. Insulating base; 2. Insulating shaft seat; 3. Bottom support rod; 4. Main shaft rod; 5. Rotating block; 6. Folding frame; 61. Fixed rod; 62. U-shaped rod; 63. Damping block; 7. Support frame; 8. Carbon slide plate; 9. Linkage rod; 10. T-block; 11. Disc; 12. V-shaped rod; 13. Deflection block; 14. First spring; 15. Second spring. DETAILED DESCRIPTION

[0035] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0036] Combination Figure 1The present embodiment is described. The present embodiment provides a pantograph lifting control system for an electric locomotive, which includes a control unit, a sensor unit, a power unit and a communication unit. The control unit adopts an embedded microcontroller (such as ARMCortex-M series), provides multiple I / O interfaces and communication support, and is used to receive operation instructions from the driver's console and feedback signals from the sensor unit, and control the lifting and lowering operation of the pantograph based on a set logic algorithm. The sensor unit includes a contact force sensor, a position sensor and an environmental sensor. The contact force sensor is used to monitor the contact force between the pantograph and the contact network, the position sensor is used to detect the real-time position of the pantograph, and the environmental sensor is used to detect the ambient environmental conditions of the pantograph. The power unit is connected to the control unit, and realizes the lifting and lowering control of the pantograph by receiving the control signal sent by the control unit. Specifically, the power unit includes a pneumatic or electric lifting device, and realizes the lifting and lowering device of the pantograph by controlling the air pressure or the motor device. The communication unit is used for data communication within the system and with the locomotive control system to ensure the coordination of the pantograph lifting and lowering control system and the overall operation of the locomotive. The communication unit adopts a wireless communication module or an unstable communication module to realize real-time data exchange with the locomotive control system to ensure the synchronization of the pantograph elevator action and the locomotive running state.

[0037] In this example, the contact force sensor has a range of 0 to 1000 N and an accuracy of ±1%; the position sensor has a resolution of 0.1 mm; and the acceleration sensor has a sensitivity of ±2 g.

[0038] The control method is:

[0039] a. Detect the contact force and position of the pantograph through the sensor unit and feed the data back to the control unit;

[0040] b. The control unit analyzes the contact force and position data, and calculates the control instructions and sends them to the power unit to adjust the pantograph's lifting height;

[0041] c. When the environmental sensor detects environmental changes, the control unit adjusts the pantograph's lifting and lowering mode according to the preset strategy to ensure stable contact between the pantograph and the contact network.

[0042] The control unit adopts a closed-loop control strategy and makes feedback adjustments based on the real-time monitoring values ​​of the contact force and pantograph position to maintain stable contact between the pantograph and the contact network.

[0043] The control method of the closed-loop control strategy includes the following steps:

[0044] 1) Detection stage: The sensor unit continuously collects the contact force between the pantograph and the contact network and the pantograph position, and feeds the data back to the control unit;

[0045] 2) Control calculation: The microcontroller of the control unit processes the sensor data in real time and determines the target lifting and lowering position of the pantograph according to the preset contact force threshold and position range;

[0046] 3) Feedback adjustment: Based on the real-time monitored contact force and pantograph position, the power unit dynamically adjusts the output parameters of the lift to achieve fine-tuning of the pantograph position;

[0047] 4) Abnormal handling: When the environmental sensor detects special circumstances (such as bad weather or complex track environment), the power unit automatically adjusts the lifting and lowering strategy to prevent abnormal conditions between the pantograph and the contact network.

[0048] A contact force threshold model is preset in the control unit. The control unit compares the output value of the contact force sensor with the preset contact force threshold. When the contact force deviates from the preset range, the output of the power unit is adjusted in real time to restore the preset contact force. The contact force sensor is a piezoelectric contact force sensor, which can perform real-time dynamic force detection, has fast response and high sensitivity, and is suitable for high-frequency detection. It can also be other sensors, such as optical fiber contact force sensors, which have strong anti-electromagnetic interference capabilities, are suitable for high-pressure and high-temperature environments, and have high detection accuracy.

[0049] The position sensor monitors the real-time position of the pantograph and feeds the monitoring value back to the control unit, which controls the lifting height of the pantograph through a closed-loop control strategy.

[0050] The system also includes an electrical isolation module, which uses photoelectric isolation or magnetic isolation technology to isolate the sensor unit from high voltage electricity to ensure system safety.

[0051] The contact force sensor is installed on the pantograph slide to monitor the direct contact force between the pantograph and the contact network in real time.

[0052] The position sensor is a displacement sensor, which is installed on the pantograph lifting mechanism and is used to detect the vertical height position of the pantograph.

[0053] The environmental sensor includes at least a temperature and humidity sensor, a wind speed sensor and a pollutant sensor, which are used to detect the ambient temperature, humidity, wind speed and pollutants in the contact quality between the pantograph and the contact network, and send the detection data to the control unit. The control unit adjusts the raising and lowering of the pantograph according to the environmental conditions.

[0054] Extremely high or low temperatures may affect the contact state between the pantograph and the contact network. High temperatures may cause the conductor to expand and the pantograph to heat up, while low temperatures may increase the brittleness of the material. By monitoring the temperature in real time, preventive measures can be taken when the temperature is too high or too low, such as reducing the pantograph pressure or adjusting the lifting position; in the case of high humidity, water vapor or condensation droplets may be generated on the surface of the contact network and the pantograph, increasing the risk of short circuit, discharge or arcing of electrical equipment. By monitoring the humidity, the system can take protective measures in advance (such as increasing insulation protection) to improve system safety; strong winds may affect the lifting position and contact force of the pantograph. In strong winds, the contact pressure between the pantograph and the contact network may be unstable, affecting the quality of power transmission. By monitoring the wind speed and direction, the system can reduce the pressure of the pantograph or adjust the angle in strong winds to ensure stable contact; pollutants in the air will adhere to the surface of the pantograph and the contact network, affecting the quality of electrical contact, increasing wear and tear, and may cause arcing. Especially in dust or salt fog weather, high pollutant concentrations will affect the conductive performance of the pantograph. Monitoring pollutant concentrations helps adjust the pantograph contact force or schedule cleaning and maintenance when air quality is poor.

[0055] Of course, it can also detect rain, snow, vibration, impact, electromagnetic interference intensity, etc., and independently design it according to the specific working environment.

[0056] In this example, if Figure 2-5 As shown, the pantograph structure includes two insulating bases 1 arranged side by side, two insulating shaft seats 2 are fixed on the insulating base 1, and the two insulating shaft seats 2 are movably connected with bottom support rods 3, and the two ends of the bottom support rods 3 on the two insulating bases 1 are movably connected with the main shaft rod 4, and the two sides of the main shaft rod 4 are fixedly connected with rotating blocks 5, and the rotating blocks 5 are fixedly connected with folding frames 6, and the upper ends of the folding frames 6 connected to the rotating blocks 5 on the two main shaft rods 4 are movably connected to the support frame 7, and the carbon slide plate 8 is fixed on the support frame 7, and the rotating blocks 5 at the same end of the two main shaft rods 4 are connected by a linkage rod 9, and the two rotating blocks 5 rotate in opposite directions under the linkage of the linkage rod 9. Specifically, the power unit is a motor, and the power unit is connected to the main shaft rod 4 through a clutch. The main shaft rod 4 is driven to rotate by the motor, and then the rotating block 5 is driven to rotate. The two main shaft rods 4 are driven to rotate in opposite directions by the linkage rod 9. When the rotating block 5 rotates, the two folding frames 6 are driven to fold and compress, thereby adjusting the height of the carbon slide plate 8.

[0057] The folding frame 6 includes two fixed rods 61 and a U-shaped rod 62. The fixed rod 61 is fixedly connected to the rotating block 5. The other ends of the two fixed rods 61 are respectively rotatably connected to the U-shaped rod 62. The transverse rods of the U-shaped rod 62 are fixedly connected with two sets of parallel damping blocks 63. The damping blocks 63 on the two folding frames 6 fit and are movably connected to the support frame 7. When the rotating block 5 rotates, the fixed rod 61 is driven to rotate, and then the U-shaped rod 62 is driven to rotate relative to the fixed rod 61, and then the support frame 7 is driven to rise and fall, thereby driving the carbon slide plate 8 to rise and fall, and the damping blocks 63 are used to provide resistance to the relative rotation of the two U-shaped rods 62, so as to ensure the smooth rise and fall of the support frame 7.

[0058] The two ends of the support frame 7 are fixedly connected with T-blocks 10, and the two sides of the T-block 10 are respectively fixedly connected with the U-shaped rod 62 through the second spring 15. The main shaft rod 4 is fixedly connected with a disk 11, and the eccentric position of the disk 11 is movably connected with a V-shaped rod 12, and the two ends of the V-shaped rod 12 are fixedly connected with the fixed rods 61 on both sides. Two sets of deflection blocks 13 are fixed on the two main shaft rods 4, and the deflection blocks 13 on the two main shaft rods 4 are connected by the first spring 14. The elastic traction of the first spring 14 and the second spring 15 ensures the stability of the folding frame 6, and then ensures the stability of the support frame 7. After the clutch separates the motor of the power unit from the main shaft rod 4, the rotation of the main shaft rod 4 is balanced by the first spring 14 and the second spring 15, so as to maintain the stability of the folding frame 6. When the support frame 7 needs to be passively raised or lowered, the clutch drives the motor to be connected with the main shaft rod 4, and the motor drives the main shaft rod 4 to rotate, thereby driving the support frame 7 on the folding frame 6 to rise or fall, thereby adjusting the height of the carbon slide 8.

[0059] The beneficial effects of the present invention are as follows:

[0060] Dynamic contact force adjustment

[0061] Through real-time monitoring of the contact force sensor and the intelligent control algorithm built into the main control unit, it can quickly respond to changes in contact force and achieve dynamic adjustment, significantly reducing wear problems caused by poor contact or excessive contact force and improving contact stability.

[0062] Multi-sensor fusion enhances adaptability

[0063] By integrating the data from contact force sensors, position sensors and environmental sensors and processing multi-source information through the main control unit, the pantograph's operating parameters can be dynamically adjusted according to environmental changes (such as temperature, humidity, wind speed, etc.), thereby enhancing the system's operational reliability under complex working conditions.

[0064] High-precision control

[0065] The use of high-precision contact force sensors (measurement accuracy ±0.5%) and position sensors (accurate to millimeter level), combined with PID and adaptive algorithms, makes the contact force and height control of the pantograph more precise, meeting the strict requirements of high-speed trains for stable power supply.

[0066] Rapid response capability

[0067] The drive unit adopts a servo motor and its control circuit, which can quickly respond to the instructions of the main control unit to ensure that the pantograph can be adjusted accurately and quickly during dynamic operation.

[0068] Security and anti-interference ability

[0069] The system uses photoelectric isolation technology to isolate the high-voltage electrical part from the sensor signal, greatly improving the system's anti-interference ability and operational safety, and is suitable for high voltage and complex electromagnetic environments.

[0070] Flexible communication capabilities

[0071] Equipped with wired and wireless dual-mode communication modules, it maintains real-time communication with the locomotive main control system, which not only improves control efficiency but also facilitates remote monitoring and fault diagnosis.

[0072] Modular design and high reliability

[0073] The system adopts a modular design to facilitate maintenance and upgrades; the core components are resistant to high temperatures, vibrations and high reliability, meeting the long-term operation requirements of high-speed railways.

[0074] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or apparatus that includes a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or apparatus.

[0075] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An electric locomotive pantograph lifting and lowering control system, characterized in that: The system comprises a control unit, a sensor unit, a power unit and a communication unit, wherein: The control unit uses an embedded microcontroller to receive operation instructions from the driver's console and feedback signals from the sensor unit, and control the pantograph raising and lowering operations based on the set logic algorithm; The sensor unit includes a contact force sensor, a position sensor and an environmental sensor. The contact force sensor is used to monitor the contact force between the pantograph and the contact network. The position sensor is used to detect the real-time position of the pantograph. The environmental sensor is used to detect the surrounding environmental conditions of the pantograph. The power unit is connected to the control unit, and realizes the lifting and lowering control of the pantograph by receiving the control signal sent by the control unit; The communication unit is used for data communication within the system and with the locomotive control system to ensure the coordination of the pantograph raising and lowering control system and the overall operation of the locomotive.

2. The electric locomotive pantograph lifting and lowering control system according to claim 1, characterized in that: The control unit adopts a closed-loop control strategy and performs feedback adjustment based on real-time monitoring values ​​of the contact force and the pantograph position to maintain stable contact between the pantograph and the contact network.

3. The electric locomotive pantograph lifting and lowering control system according to claim 2, characterized in that: The control method of the closed-loop control strategy comprises the following steps: 1) Detection stage: The sensor unit continuously collects the contact force between the pantograph and the contact network and the pantograph position, and feeds the data back to the control unit; 2) Control calculation: The microcontroller of the control unit processes the sensor data in real time and determines the target lifting and lowering position of the pantograph according to the preset contact force threshold and position range; 3) Feedback adjustment: Based on the real-time monitored contact force and pantograph position, the power unit dynamically adjusts the output parameters of the lift to achieve fine-tuning of the pantograph position; 4) Abnormal handling: When the environmental sensor detects special circumstances (such as bad weather or complex track environment), the power unit automatically adjusts the lifting and lowering strategy to prevent abnormal conditions between the pantograph and the contact network.

4. The electric locomotive pantograph lifting and lowering control system according to claim 3, characterized in that: A contact force threshold model is preset in the control unit. The control unit compares the output value of the contact force sensor with the preset contact force threshold. When the contact force deviates from the preset range, the output of the power unit is adjusted in real time to restore the preset contact force.

5. The electric locomotive pantograph lifting and lowering control system according to claim 1, characterized in that: The environmental sensor includes at least a temperature and humidity sensor, a wind speed sensor and a pollutant sensor, which are used to detect the environmental temperature, humidity, wind speed and pollutants in the contact quality between the pantograph and the contact network, and send the detection data to the control unit, which adjusts the raising and lowering of the pantograph according to the environmental conditions.

6. The electric locomotive pantograph lifting and lowering control system according to claim 1, characterized in that: It also includes a pantograph structure, which includes two insulating bases arranged side by side, two insulating shaft seats are fixed on the insulating bases, and the two insulating shaft seats are movably connected with bottom support rods, and a main shaft rod is movably connected between the two ends of the bottom support rods on the two insulating bases, and rotating blocks are fixedly connected on both sides of the main shaft rod, and a folding frame is fixedly connected on the rotating block, and the upper ends of the folding frames connected to the rotating blocks on the two main shaft rods are movably connected to a support frame, a carbon slide plate is fixed on the support frame, and the rotating blocks at the same end of the two main shaft rods are connected by a linkage rod, and the two rotating blocks rotate in opposite directions under the linkage of the linkage rod.

7. The electric locomotive pantograph lifting and lowering control system according to claim 6, characterized in that: Two groups of deflection blocks are fixed on the two main shaft rods, and the deflection blocks on the two main shaft rods are connected by a first spring.

8. The electric locomotive pantograph lifting and lowering control system according to claim 6, characterized in that: The folding frame includes two fixed rods and a U-shaped rod. The fixed rods are fixedly connected to the rotating block. The other ends of the two fixed rods are respectively rotatably connected to the U-shaped rods. The transverse rods of the U-shaped rods are fixedly connected with two groups of parallel damping blocks. The damping blocks on the two folding frames are fitted and movably connected to the support frame.

9. The electric locomotive pantograph raising and lowering control system according to claim 6, characterized in that: Two ends of the support frame are fixedly connected with T-shaped blocks, and two sides of the T-shaped block are respectively fixedly connected with the U-shaped rod through a second spring.

10. The electric locomotive pantograph lifting and lowering control system according to claim 6, characterized in that: A disc is fixedly connected to the main shaft rod, a V-shaped rod is movably connected to the eccentric position of the disc, and two ends of the V-shaped rod are fixedly connected to fixed rods on both sides.

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