Three-DOF hybrid damping pantograph

A three degrees of freedom (DOF) hybrid damping pantograph, comprising

• an electric driving transmission system fixed on a base;
• and
• collector heads;
• and further comprising
• a plurality of transverse dampers;
• parallel support frames;
• a plurality of longitudinal dampers;
• square auxiliary holes being arranged on the base;
• and
• supporting insulators being arranged below four corners of the base;
• wherein the plurality of transverse dampers comprises four transverse dampers which are symmetrically fixed on the base, and arranged on and outside of the parallel support frames and connected with the parallel support frames through hinges;
• wherein the plurality of longitudinal dampers comprises four longitudinal dampers which are symmetrically fixed on top of the parallel support frames;
• the collector heads being connected with the parallel support frames by the four longitudinal dampers;
• the parallel support frames comprising four linear guide rails, four open-type linear bearing pedestals, four two-staged or three-staged cylinders, two scalable guide posts, two U-shaped stands and an intermediate connecting plate;
• the linear guide rails being fixed on top of the base;
• the four open-type linear bearing pedestals being connected with the four linear guide rails by four first sliding pairs respectively, the four open-type linear bearing pedestals being connected with the four transverse dampers respectively through the hinges;
• lower ends of the four two-staged or three-staged cylinders being connected with the four open-type linear bearing pedestals by four first revolute pairs and upper ends of the four two-staged or three-staged cylinders being connected with the two U-shaped stands by four second revolute pairs respectively;
• bottom ends of the two scalable guide posts being fixed on the base by bolts and top ends of the two scalable guide posts being connected with the two U-shaped stands by two third revolute pairs respectively, axes of the two scalable guide posts being perpendicular to an upper surface of the base and axes of the first sliding pairs;
• both ends of the intermediate connecting plate being connected with the two U-shaped stands by two fourth revolute pairs respectively;
• the electric driving transmission system comprising two left rotating screw rod, two right rotating screw rod, two motors, two retarders and four bearing pedestals;
• the retarders being dual-output-shaft worm gear retarders;
• the two motors being installed at input ends of the two retarders respectively;
• one end of each left rotating screw rod and one end of each right rotating screw rod being connected with two output shafts of each retarder respectively, and the other ends of the left and right rotating screw rods being installed on the base by the bearing pedestals;
• each longitudinal damper comprising a pair of lugs, a guide rod and a spring, the lugs being located on an upper surface of the intermediate connecting plate and firmly connected with the intermediate connecting plate, the spring being sleeved on the guide rod and both ends of the guide rod being installed in the pair of lugs respectively.