512 results about "Pantograph" patented technology

The invention discloses a railway pantograph carbon slide plate wear detection method based on machine vision, and the method comprises the steps: firstly carrying out the illumination enhancement of a pantograph image through employing an SCI model which introduces a channel attention mechanism, and carrying out the super-resolution reconstruction of the pantograph image after the illumination enhancement through employing a Real-ESRGAN model; secondly, an improved M3Net model is adopted to carry out pantograph carbon slide plate area positioning, an improved M3Net model encoder adopts a residual error post-standardization structure and logarithm interval continuous relative position deviation method, a decoder adopts an MIB module and an MAB module, and then a DexiNed model introducing a CA block and a space attention mechanism is adopted to carry out carbon slide plate abrasion edge detection; and finally, judging whether uneven wear exists or not according to a wear edge detection result. According to the railway pantograph carbon slide plate wear detection method disclosed by the invention, the problem of large wear detection error of the carbon slide plate under the condition of poor image quality or complex background in the existing method is solved.

The invention relates to a real-time pantograph anomaly detection method based on image processing, and the method comprises the steps: building a pantograph anomaly detection model, training the model, collecting the image data and operation data of a pantograph in a train operation process in real time, transmitting the image data and operation data of the pantograph to a mercuric chloride chip, and carrying out the collection of the image data and operation data of the pantograph. Image data are input into the convolutional neural network unit for feature extraction, and operation data are input into the full-connection neural network unit for analysis; a pantograph region in the image data of the pantograph is extracted, secondary detection of a specified key point is carried out, and the abnormal condition of the pantograph is judged; if it is judged that the pantograph is abnormal in the two times of detection, the corresponding position is reported to a defect alarm, and a maintainer repairs the corresponding position; and if only one of the two times of detection is judged to be abnormal, the corresponding image is put into a suspected defect library, and if the position is abnormal again, an abnormal alarm is given, so that the accuracy and the real-time performance of the abnormal detection of the pantograph are effectively improved.

The invention belongs to the technical field of life state monitoring and maintenance management of a pantograph carbon contact strip, and particularly discloses a pantograph carbon contact strip full-life cycle data management system, which comprises a multi-level gradient feature library, a pseudo edge filtering technology, multi-scale feature extraction and radial basis function classification, full-scale identification of defects such as cracks is realized, and the microcrack detection accuracy is improved; multi-source data collaborative acquisition and three-dimensional coordinate mapping are adopted, and self-adaptive sliding window analysis is combined, so that data integrity and timeliness under different working conditions are ensured; through impact energy parameter integration, pressure fluctuation index calculation and a thermal expansion correction coefficient, a partition life prediction model is established, and the wear prediction error of a key area is reduced; high-risk area automatic marking and maintenance work order generation are realized, the RFID tracing technology is combined, the maintenance efficiency is improved, and the service life is prolonged. According to the method, the defects of a traditional method in the aspects of defect detection, dynamic monitoring and service life prediction are effectively overcome.

The invention relates to the technical field of pantograph-catenary system monitoring, and discloses a nonlinear pantograph-catenary system state prediction method based on a physical information neural network, and the method comprises the steps: obtaining the structural parameters of a catenary and a pantograph in a nonlinear pantograph-catenary system, and the train speed; a multi-expert Mama network based on Fourier transform is constructed; utilizing the first full connection layer to map input features formed by the structural parameters of the contact net and the pantograph and the train speed to a high-dimensional feature space to obtain first high-dimensional features; frequency domain features are extracted from the first high-dimensional features by using a plurality of cascaded multi-expert Mamba network layers, and time sequence features are modeled at the same time; fusing the spliced frequency domain feature and the time sequence feature by using a second full connection layer to obtain a second high-dimensional feature fusing the time-frequency energy and the dynamic evolution information; and performing nonlinear pantograph-catenary system state prediction according to the second high-dimensional features. According to the invention, the state prediction accuracy of the nonlinear pantograph-catenary system can be improved.

The invention discloses a self-adaptive grinding control method and system for a rigid contact network, and belongs to the technical field of maintenance of rail transit power supply equipment. The method comprises the following steps: acquiring pantograph-catenary action historical data of each position of the contact network along a busbar direction, and constructing a contact line damage index distribution curve; identifying a high damage interval based on the damage index, extracting roughness, ripple amplitude and oxidation thickness parameters, constructing a damage intensity vector, and calculating a damage grade score of each position by adopting a fuzzy comprehensive evaluation method; a preset polishing strategy library is matched according to the scoring result, a corresponding polishing wheel combination, the rotating speed and the contact pressure are determined, and a control parameter set is generated; the grinding device dynamically adjusts the working state according to the control parameters in the advancing process. The method achieves full-process self-adaptive closed-loop control of state recognition, strategy decision, execution control and quality feedback of contact line grinding operation.

The invention relates to the technical field of pantograph carbon contact strip abrasion, and particularly discloses a pantograph carbon contact strip abrasion self-adaptive detection system based on multi-sensor fusion, which comprises a carbon contact strip data acquisition module, a comprehensive abrasion degree generation module, a self-adaptive adjustment generation module, an abrasion risk judgment module and a database, according to the method, surface images, edge thickness, real-time temperature and dynamic contact pressure data are collected through a camera and a multi-source sensor, the direct abrasion degree and the indirect abrasion degree are calculated, then the comprehensive abrasion degree is obtained, the historical mean value and the standard deviation of the abrasion degree are calculated according to historical data, and the comprehensive abrasion degree is obtained. The current comprehensive abrasion degree deviation degree is combined to adjust the abrasion threshold sensitivity and generate a dynamic abrasion threshold, and the detection period is adjusted accordingly, so that the defects of singleness and fixed threshold of a traditional detection method are overcome, the detection accuracy and the operation and maintenance efficiency are improved, an intelligent solution is provided for state management of the pantograph carbon contact strip, and the detection efficiency is improved. And train operation safety is guaranteed.

The invention provides a training method of a pantograph fault judgment model, a fault judgment method and a train, and relates to the technical field of rail trains. The training method comprises the steps of obtaining a fault training set; and iteratively executing operation 1-operation 3: operation 1, inputting the modal information into an initial neural network corresponding to the modal information, and outputting modal features of the modal information; operation 2, the multiple modal features of the training sample are processed through a classification fusion network, a state prediction result is obtained, the state prediction result represents whether the pantograph breaks down or not, and the classification fusion network is constructed based on multiple target attention networks and a target classifier; 3, adjusting model parameters of an initial judgment model according to the state prediction result and the state label, wherein the initial judgment model comprises a plurality of initial neural networks and a classification fusion network; and under the condition of model parameter convergence, determining the initial judgment model as a trained pantograph fault judgment model.

The invention discloses a pantograph-contact network system operation performance evaluation method and system. The method comprises the following steps: firstly, collecting data in real time, normalizing the collected data, and screening key hidden dangers which have power-off risks and need speed reduction operation through a two-stage risk rapid judgment mechanism; after hidden dangers are eliminated, an analytic hierarchy process is adopted to calculate index weights and initial weights of all parameters, then information entropies of all the parameters are calculated based on an improved entropy weight method to determine the dispersion degree, and real-time dynamic adjustment of the parameter weights is achieved through a combined weight method; and finally, by applying a fuzzy comprehensive evaluation method and combining the dynamically adjusted parameter weights and the membership degrees of the parameters, calculating the operation performance score of each index, then obtaining the comprehensive score of the operation performance of the pantograph-catenary system, and judging the performance grade according to the score interval. The method and the system provided by the invention are suitable for accurate evaluation of the operation performance of the icing galloping section pantograph-catenary system, and can quickly identify the operation risk and scientifically judge the performance grade.

A drive system for raising or lowering a sliding piece of a current collector for rail vehicles. The sliding piece is disposed on a positioning device of the current collector, and the sliding piece is configured to be brought into contact with an overhead line using contact pressure. The drive system includes a bellows drive which is actuated by compressed air to actuate the positioning device, and a pneumatic control unit having a control valve for supplying or withdrawing compressed air to / from the bellows drive. The drive system includes a detection line and a lowering valve for venting the bellows drive when pressure drops in the detection line, the lowering valve being a 3 / 2-way valve disposed in a pneumatic supply line between the control valve and the bellows drive.

The invention relates to the technical field of electrified highway power receiving, and particularly discloses a stable pantograph system suitable for an electrified highway and a design method of the stable pantograph system. In order to solve the problem of unstable power receiving of the pantograph caused by road bumping and vehicle body swinging in a road driving environment, the pantograph is stably attached to a linear rail by designing a stacked pantograph transverse sliding mechanism and a multi-dimensional compensation system and combining a radar / infrared sensing technology. The system can tolerate one-side deviation of a vehicle body by + / -40-50 cm, solves the technical problems of up-and-down fluctuation and left-and-right drifting of the highway pantograph, fills the blank of design of an electrified highway pantograph net system, and has remarkable practical value and application prospect.

The invention discloses a bow net offline electromagnetic interference multichannel data acquisition and analysis method and device, and belongs to the technical field of electromagnetic interference test and analysis. A transient electromagnetic signal of pantograph-catenary discharge is acquired through cooperation of multiple antennas, multiple probes and multiple channels, and strict alignment of multi-source data under the same discharge event is realized through unified triggering and time base line unification; in the off-line stage, denoising, feature extraction and multi-event statistical modeling are carried out on data generated by triggering, so that multi-path and multi-mode electromagnetic characteristics of pantograph-catenary discharge and statistical laws of the multi-path and multi-mode electromagnetic characteristics of pantograph-catenary discharge are obtained; the device comprises a data acquisition unit, a synchronous trigger unit, an analysis processing unit and an interactive display unit, and can improve data processing efficiency and analysis depth while ensuring high sampling rate and broadband coverage; the device solves the problems of insufficient space coverage, poor synchronism and limited analysis capability in the existing pantograph-catenary discharge test, and is suitable for pantograph-catenary discharge mechanism research, electromagnetic interference evaluation and related engineering application.

The invention provides a pantograph image detection method, a training method, a train, a device and equipment. The pantograph image detection method comprises the following steps: acquiring a pantograph image acquired in the running process of a target train; the method comprises the following steps: identifying a pantograph image, and determining a to-be-detected path for the pantograph image; wherein the to-be-detected path indicates task types of at least two to-be-detected tasks needing to be executed for the pantograph image; according to the at least two task types, processing the pantograph image by using the target model, and generating an initial detection result for each task type; and based on the at least two to-be-detected tasks, performing fusion analysis on the initial detection results of the task types to generate a target detection result.

The invention discloses a train pantograph-catenary system fault detection method and system based on YOLOv11, and relates to the image recognition technology, and the method comprises the steps: employing a wavelet convolution module to process feature extraction of different stages of a backbone network, carrying out the multi-scale decomposition of an input signal through wavelet transformation, and extracting high-frequency details and low-frequency contour features; adjusting weights of different brightness or color interval features by using an attention mechanism module, and simultaneously paying attention to local and global information by using parallel double-path attention; a loss function module is used for determining a proper threshold value for the sample, and the loss weight is automatically adjusted according to the characteristics of the sample and model output; the wavelet convolution module better retains image details, achieves the effect of picture deblurring, and effectively solves the problem of loss of feature problem information; the attention mechanism module reduces the influence of feature degradation caused by complex weather and background, and the loss function module enables the model to pay more attention to difficult samples and solves the problem of low detection precision of some samples.

The invention belongs to the technical field of defect detection, and discloses a pantograph-catenary defect detection and feature fusion method based on deep transfer learning. The method comprises the following steps: acquiring sensor data, wherein the sensor data comprises detection data and environment data; the detection data comprises a visible light image, an infrared thermal image and a laser 3D point cloud of the to-be-detected object; the environment data comprises temperature and humidity; performing alignment processing on the detection data to obtain an aligned multi-modal data set; performing domain adaptive feature extraction on the aligned multi-modal data set to obtain a multi-modal domain invariant feature vector; according to the method, the limitation of single-mode detection is broken through, the defect identification accuracy and the environmental adaptability are improved, the dependence on labeled data is reduced, qualitative and quantitative analysis collaborative output of defects is realized, and the intelligent level and the operation and maintenance efficiency of pantograph-catenary equipment state evaluation are remarkably improved.

A gripping device used on a robot for handling pieces or components includes a main supporting structure, defining a main axis, and a plurality of gripping arms, each of which includes a first, proximal, arm portion and a second, distal, arm portion. Each gripping arm constitutes a modular unit, which can be assembled as a whole on the main supporting structure. The proximal arm portion is a pantograph linkage configured such that, during a movement of articulation of the proximal arm portion, the distal arm portion remains parallel to itself. The electric motor associated to each gripping arm is arranged with its axis parallel to the main axis. The pantograph linkage is controlled by the respective electric driving motor. The distal portion of each gripping arm has a body made of a single piece of elastomeric material, in the form of a gripping finger.

The invention provides a pantograph supporting insulator, which relates to the field of pantograph accessories and comprises a flange base, a core column is mounted at the upper end of the flange base, a plurality of umbrella skirts are arranged on the outer side of the core column, a cavity quadrangular cone is arranged in the core column, and an insulating gas pipe of a straight pipe section and a spiral pipe section which are communicated together is further arranged in the core column. Wherein the spiral pipe section is arranged on the cavity quadrangular cone, the free end of the spiral pipe section is connected with a lower air pipe joint arranged on the outer wall of the flange base, the lower air pipe joint can be connected with an air source air pipe in a motor train unit body, and the free end of the straight pipe section is connected with an upper air pipe joint on the outer wall of the core column. And the upper air pipe joint can be connected with an air pipe of the pantograph. According to the gas channel with a special shape, the pantograph rising response speed of the motor train unit is increased, and meanwhile, the arc flash distance in the insulating gas pipe is effectively increased, so that the insulator can still meet the technical requirement of rated lightning impulse withstand voltage of 185kV after being broken down by lightning impulse voltage.

The invention relates to a pantograph carbon slide plate detection system based on MR glasses. The pantograph carbon slide plate detection system comprises an MR glasses terminal, a data processing module and a user interaction module, the MR glasses terminal comprises an MR glasses body, a data acquisition assembly, a processor assembly and a display assembly. The data acquisition assembly, the processor assembly and the display assembly are all arranged on the MR glasses body; the processor assembly is respectively connected with the data acquisition assembly and the display assembly; the data processing module and the user interaction module are both carried on the processor assembly; and the data processing module comprises a data fusion algorithm, a thickness calculation model and a wear analysis model, and is used for processing and analyzing the carbon slide plate detection data acquired by the data acquisition assembly in real time to obtain a detection result. The detection system provided by the invention can realize non-contact real-time detection, wear distribution modeling and intelligent judgment of the thickness of the carbon contact strip.

The invention relates to the technical field of electrified railway catenaries, and provides an intelligent monitoring system and method for a catenary section insulator, and the method comprises the steps: collecting a visible light video, converting the visible light video into an HSV color space, and extracting the contour of a pantograph slide plate through combining the material and shape features; an optical flow method is adopted to track the contact track, the number of effective contact times is counted, and voltage and temperature data are synchronized to analyze performance changes before and after contact; and finally, a relation graph model is constructed, trend prediction and abnormal early warning of the state of the section insulator are realized, so that the operation state of the section insulator in the overhead line system can be continuously monitored in real time, advance perception and trend pre-judgment of faults are realized, and the safety and reliability of a railway system are effectively improved.

This invention discloses a method and system for acquiring pantograph contactor images, belonging to the field of railway power supply contact network detection technology. It uses a photoelectric sensor signal as a trigger. When the photoelectric sensor module detects an approaching train, it controls the pantograph imaging module to take a picture based on a system-preset speed and the radar's measured speed. After the train passes, the image's stretching / compression ratio is calculated based on the radar's final detected speed and the system-preset speed. The identified pantograph contactor image is then stretched, compressed, and segmented to obtain the final pantograph contactor image. By introducing a photoelectric sensor, both the sensor and radar can identify approaching trains. Furthermore, by combining the imaging process based on real-time radar speed measurement and a system-preset speed, even if a train is missed by the radar, the entire image acquisition process can be completed based on the photoelectric sensor's identification and the system-preset speed, avoiding the problem of missed trains by the radar.

The utility model discloses an anti-freezing rain pantograph lower arm gas circuit, which is characterized in that a gas pipe is arranged in an inner cavity of a lower arm rod, penetrates out of the side wall of the lower arm rod through a plate penetrating joint, and is fixed on the side wall of the lower arm rod. The plate-penetrating connector penetrates through a hole in the center of the circular plate, two ends of the plate-penetrating connector are locked by nuts, and the circular plate is fixed on the lower arm rod through screws. The two ends of the plate penetrating connector are respectively provided with a clamping sleeve nut, the opposite ends of the two clamping sleeve nuts are respectively provided with a thin nut, after the two clamping sleeve nuts are oppositely tightened, the two thin nuts are tightened, and the plate penetrating connector is fixed to the circular plate through the two thin nuts. And the air path is arranged in the lower arm, so that the air path can be prevented from being damaged by the falling ice, and the stability of the pantograph running in the freezing rain weather is improved.

The invention discloses a special test device for a pantograph of an electrified road. The special test device comprises a simulated contact net unit, a transverse moving sliding table, a transverse moving sliding table, a vertical moving sliding table, a pantograph moving platform and a flexible supporting platform, a pressure sensor is arranged in the middle of the simulation contact network unit; an electric cylinder is arranged in the middle of the flexible supporting platform and used for achieving the inclination angle function, and a pantograph installation platform is arranged on the upper portion. The vertical moving sliding table is located on the transverse moving sliding table, and the simulation contact network is designed to be an independent unit which can move transversely and vertically and is provided with elastic buffering. And multiple key performance tests such as static / dynamic contact pressure, pantograph lifting height, pantograph lifting time, off-network rapid pantograph lifting and durability can be completed, the simulation trueness is high, and the defects in the prior art are overcome.

The utility model discloses a pantograph upper frame supporting tool which comprises a connecting frame. Uniformly distributed supporting legs are fixedly connected to the lower surface of the connecting frame, a third supporting rod is fixedly connected to the middle of the upper surface of the connecting frame, a second supporting rod is fixedly connected between the front surface of the third supporting rod and the front side of the upper surface of the connecting frame, and a second supporting rod is also fixedly connected between the rear surface of the third supporting rod and the rear side of the upper surface of the connecting frame; a first supporting rod is fixedly connected between the left surface of the third supporting rod and the left side of the upper surface of the connecting frame, and a first supporting rod is also fixedly connected between the right surface of the third supporting rod and the right side of the upper surface of the connecting frame. In the aspect of safety, the risks of crushing injury, falling and the like caused by manual lifting are avoided, in the aspect of operation efficiency, the operation time of the operation is shortened, and the utilization rate of personnel is increased.

This application relates to the field of catenary elastic sling monitoring, and provides a method and system for measuring the tension of catenary elastic slings to solve the problems of insufficient accuracy of tension measurement and weak analysis ability. This application includes: based on the wind load and humidity of the catenary elastic sling, correlating the creep rate of the sling material at different temperatures with the weight coefficient of tension attenuation, and constructing a mapping database; using a radar array to monitor the parabolic deformation of the elastic sling under the sliding impact of the pantograph, combining with the yield strength temperature attenuation curve corresponding to the sling material, correcting the parameters of the parabolic equation, and inversely generating tension distribution data; analyzing the vibration frequency components in the phase difference signal, correlating the tension data with the historical creep rate in the same temperature range of the database, and establishing a cross-domain coupling relationship; using a convolutional neural network to fuse the weight coefficient of the creep rate and the vibration distortion characteristics to obtain a predicted value of tension attenuation. The technical solution provided by this application improves the accuracy of tension measurement and the analysis ability.

The application discloses a high-speed railway pantograph-catenary arc electromagnetic radiation interference modeling analysis method, constructs a pantograph-catenary arc-pantograph power supply system integrated model containing a traction substation model, a traction network model, a train traction transmission system model, a train-track return current grounding system model and a pantograph-catenary arc model; under a pantograph-off arc transient condition, arc current is obtained through simulation calculation; and based on the arc current, a relationship between arc radiation power and spatial equivalent electric field intensity is established to represent the influence of time-varying characteristics of traction network electrical parameters on pantograph-catenary arc electromagnetic radiation interference. Under the pantograph-off arc transient condition, the real-time changes of impedance and capacitive reactance parameters of the traction network are involved in the unified solution of arc current formation, radiation power evolution and spatial electric field intensity calculation, and meanwhile, key coupling factors of the train high-voltage system and the train-track grounding system are mainly considered, so that the accuracy and engineering applicability of pantograph-catenary arc electromagnetic radiation interference analysis are improved.

A high-speed rail pantograph carbon contact strip abrasion detection method comprises the steps that carbon contact strip point cloud profile data of a high-speed rail pantograph are obtained through a single-line laser sensor; processing the data by adopting a motion blur correction algorithm based on spatial range screening and reflection intensity screening to obtain effective point cloud data; statistical filtering is carried out on the effective point cloud data, then normalization processing is carried out, and normalized effective point cloud data are obtained; obtaining a first demarcation point and a second demarcation point of the pantograph horn and the carbon contact strip by adopting a reflection characteristic identification method and a characteristic point identification method respectively; screening and integrating to obtain a final demarcation point, and intercepting to obtain an actually measured carbon slide plate point cloud data set; and comparing and registering the actually measured point cloud data set of the carbon contact strip and the point cloud data set of the standard carbon contact strip by adopting a point-to-surface ICP (Inductively Coupled Plasma) registration method so as to calculate the abrasion value and the over-limit abrasion area of the pantograph carbon contact strip. According to the invention, high-efficiency and high-precision detection of high-speed railway pantograph carbon contact strip abrasion can be realized.

A method and a device for diagnosing a defect in a pantograph of a railway vehicle and calculating its remaining service life are disclosed. The method may include setting a status value for diagnosing the pantograph, building a database with indexes for diagnosing the pantograph, comparing a detected index with a reference index, and storing a defect code of the pantograph if the detected index is greater than the reference index in the database.The status value can refer to the pressure of an actuator when the pantograph is raised before the rail vehicle is in motion, to the actuator pressure while the rail vehicle is in motion, to the number of arcing occurrences or the duration of arcing events while the rail vehicle is in motion, to an insulation resistance while the rail vehicle is in motion, or to the wear amount of a main wear slider. Furthermore, the device configured to carry out the method is disclosed.

The present invention discloses a method and system for testing the durability of pantograph contact networks for highway trucks. The method comprises: step S1, using a high-definition area array camera to capture a pantograph image, and employing a Gabor filter and a support vector machine to identify a pantograph image to be tested in the pantograph image; step S2, using an improved edge detection algorithm to extract a pantograph edge image from the pantograph image to be tested; step S3, locating the pantograph contour based on the pantograph edge image, and obtaining pantograph contour similarity using an invariant moment and a similarity calculation formula; and step S4, obtaining the degree of wear of the pantograph contact network for highway trucks based on the contour similarity, and determining the durability of the pantograph contact network based on the wear degree. By employing a Gabor filter and a support vector machine (SVM) to identify the pantograph image, the present invention can effectively extract pantograph shape information and improve the recognition accuracy of the pantograph image to be tested.

The utility model discloses a transverse compensation mechanism for a highway pantograph. The transverse compensation mechanism mainly comprises a fixed box body, an arm lever mounting seat, an arm lever, a T-shaped plate, a connecting shaft and the like, the arm lever is rotationally connected with the arm lever mounting seat; the fixed box body is rotationally connected with the connecting shaft, the connecting shaft is fixedly connected with the T-shaped plate through a pin shaft, the T-shaped plate is fixedly connected with the arm lever mounting seat through a bolt, the connecting shaft is rotationally connected with the speed reducer in the fixed box body, and the speed reducer is fixed with the fixed box body through a bolt. When the motor rotates, the speed reducer drives the connecting shaft to rotate, then drives the T-shaped plate to rotate and further drives the arm lever mounting seat to rotate, so that the arm lever is driven to rotate left and right, and transverse compensation of the pantograph is realized.

The application discloses a rigid contact net self-adaptive polishing control method and system, belongs to the technical field of track traffic power supply equipment maintenance, obtains the pantograph-catenary action historical data of each position along the busbar direction of the contact net, and constructs a contact wire damage index distribution curve; based on the damage index, a high damage interval is identified, roughness, corrugation amplitude and oxidation thickness parameters are extracted, a damage intensity vector is constructed, and a fuzzy comprehensive evaluation method is used to calculate the damage level score of each position; according to the scoring results, a preset polishing strategy library is matched, corresponding polishing wheel combinations, rotating speeds and contact pressures are determined, and a control parameter set is generated; the polishing device dynamically adjusts the working state according to the control parameters in the running process, and the method realizes the whole-process self-adaptive closed-loop control of state recognition, strategy decision, execution control and quality feedback of the contact wire polishing operation.

The application discloses a pantograph head device and a railway vehicle, and relates to the technical field of rail transit. The pantograph head device comprises a single-slipper head, the inner side of the single-slipper head is provided with a first connecting assembly and a second connecting assembly; two spring cylinders are symmetrically arranged about the middle section of the single-slipper head, one of the two spring cylinders is connected to the single-slipper head through the first connecting assembly, and the other of the two spring cylinders is connected to the single-slipper head through the second connecting assembly; and a connecting shaft is used for fixedly connecting the two spring cylinders, and the length direction of the two spring cylinders is perpendicular to the extension direction of the single-slipper head. The pantograph head device provided by the application can effectively reduce the wind resistance and the mass of the head; in addition, the two spring cylinders are symmetrically arranged about the middle section of the single-slipper head, the airflow flows along the length direction of the spring cylinders, so that the structure of the pantograph head device is compact, and the layout is more reasonable.