The invention discloses a double-oscillating-bar current receiving device, belongs to a current receiving machine, and mainly aims to solve the technical problems that an existing current receiving device is relatively high in maintenance cost, limited in space, inconvenient to operate and the like. The technical scheme has the main points that the double-oscillating-bar current receiving device comprises a sliding shoe component (2), an oscillating bar A (3), an oscillating bar B (4), a bracket (5), an insulating supporting plate (6) and a telescopic device (9), wherein the bracket (5) is fixedly mounted on the insulating supporting plate (6); rotating shafts are arranged at the two sides of one end of the oscillating bar A (3) and one end of the oscillating bar B (4) and are respectively mounted in a movably-matched manner on the bracket (5); one end of the telescopic device (9) is connected with rocker arms which are arranged on the oscillating bar A (3) or the oscillating bar B (4) or on the rotating shafts of the oscillating bar A (3) and the oscillating bar B (4); the other end of the oscillating bar A (3) and the other end of the oscillating bar B (4) are connected with a hinged support at the lower part of the sliding shoe component (2). The double-oscillating-bar current receiving device is mainly applied to various motor-driven vehicles such as track traffic and non-track traffic public vehicles and haulage trucks.