The instrument that can continuously measure catenary ware, catenary guide height, and pull-out value is designed by analyzing current status of pantograph and catenary system in urban rail transit and discussing current problems of catenary detection techniques and methods. The “∏” structure characteristic of the rigid busbar is used, and continuous movement function on the surface of the rigid busbar in the form of wheel symmetry and connecting rod is realized, in the meantime, continuous synchronous measures of contact line wear, lead value and pull-out value are realized with the method of laser triangulation and contour matching. Finally, the instrument function and measurement accuracy are verified by means of the laboratory testing and the field manual comparison test. The experiment result shows that the precision of the measuring instrument is 0.01mm, the average error of the contact net abrasion is 0.128 mm, the average errors of the lead height and the pull value are 2.297 mm and 3.119 mm. The research achieves the goal of improving catenary detection method and efficiency.