Flexible profiling device for header of combine harvester and control method

Abstract

The invention provides a combine harvester header flexible profiling device and a control method. The combine harvester header flexible profiling device comprises a hanging mechanism, a height detection device, an angle detection device, a transverse driving mechanism, a longitudinal driving mechanism and a header automatic profiling device. The hanging mechanism comprises a front hanging plate and a rear hanging plate; the height detection device comprises a contour wheel, a spring cylinder, a telescopic rod, a displacement sensor and a spring. A three-position four-way electromagnetic reversing proportional valve is adopted to control the header to perform automatic profiling, so that cooperative or independent operation of transverse and longitudinal driving mechanisms of the header is realized; the flexible profiling device has transverse and longitudinal profiling functions and can adapt to fluctuation of farmland soil, automatic adjustment of the posture of the header is achieved, and the harvesting efficiency and the operation quality are improved.

Description

Technical Field

[0001] The invention relates to the field of agricultural machinery, and in particular to a flexible profiling device for a harvester header and a control method thereof. Background Art

[0002] As a key component of the combine harvester, the header plays an important role in harvesting. Generally, when the header is working, the driver needs to adjust the header height in real time according to the undulating terrain, which is labor-intensive and has low operating efficiency. When the header height is adjusted too high, the harvest is not thorough, and the stalk stubble height is high, which is not conducive to the cultivation and sowing of the next crop, resulting in feed waste during silage harvesting; when the header height is adjusted too low, it is easy to cause the front end of the header to sink into the soil, affecting the service life of the header.

[0003] The current lateral profiling device of the cutting table of the combine harvester can realize the lateral profiling of the cutting table following the undulations of the farmland soil surface. However, the profiling wheel cannot touch the ground quickly when working, and there is a certain delay, which lags behind the terrain under the cutting table, resulting in inaccurate height control of the cutting table.

[0004] In the current automatic profiling system of the cutting table of the combine harvester, the coupling mechanism can drive the cutting table to swing and adjust the lateral inclination angle of the cutting table. Although the lateral profiling of the cutting table can be achieved, the coupling mechanism completes the lateral profiling of the cutting table through the coupling shaft, and there are problems such as small contact area between the coupling shaft and the coupling plate and weak load-bearing capacity, which leads to unstable control of the lateral profiling of the cutting table.

[0005] The current control method for the cutting table profiling of a combine harvester can use a control module to complete the profiling of the cutting table along the undulations of the ground. However, due to the differences in profiling devices, there are great differences in the profiling effects, the profiling process is complex, and the process of processing sensor measurement data is complex. Summary of the invention

[0006] The present invention aims to provide a flexible profiling device and control method for a combine harvester cutting table in response to the technical defects of the existing technology, so as to solve the problems of conventional cutting table profiling control methods and devices, such as profiling wheel delay, lag behind the terrain under the cutting table, small contact area between the coupling shaft and the coupling plate, weak load-bearing capacity, and unstable lateral profiling control of the cutting table.

[0007] The purpose of the present invention is to automatically adjust the lateral and longitudinal profiling of a cutting platform, and to provide a hanging mechanism. The front and rear hanging plates are both connected by bearings, so that the cutting platform is evenly stressed and the profiling is stable during regulation; a profiling wheel with rapid profiling return is provided to shorten the delay time, solve the problem that the profiling wheel lags behind the terrain below the cutting platform during actual regulation, and improve the profiling accuracy.

[0008] In order to achieve the above technical objectives, the present invention adopts the following technical solutions:

[0009] A flexible profiling device for a harvester cutting table and a control method thereof comprise a cutting table, a transverse driving mechanism, a height detection device, a hanging mechanism, a longitudinal driving mechanism and an angle detection device.

[0010] The hanging mechanism comprises a front hanging plate, a rear hanging plate, an upper bearing shell, a lower bearing shell, an upper half shaft, a lower half shaft, a pin shaft, a threaded pin and a bearing seat.

[0011] The cutting table is connected to the feeding roller through a hanging mechanism. A triangular convex rib is provided on the upper end of the hanging mechanism. The convex rib has a length of 400-450mm and is used for hanging with the triangular groove of the cutting table.

[0012] The upper and lower bearing shells on the front mounting plate are in surface contact with the half shaft and lower shaft of the rear mounting plate, wherein the arc length of the upper bearing shell is 600-800mm and the radius is 150-200mm, and the arc length of the lower bearing shell is 300-500mm and the radius is 200-300mm; the oil grooves are respectively opened on both sides of the upper and lower bearing shells, and are symmetrically distributed. The oil groove arrangement type is circumferential, and the upper and lower shafts swing around the upper and lower bearing shells with an amplitude of 0°-7.5°; the rear mounting plate is connected to the feed roller through bearings, the bearing seat is welded to the rear mounting plate, the threaded pin is used to install the contour wheel, and the connection method with the rear mounting plate is welding.

[0013] The longitudinal driving mechanism includes a front pin shaft seat, a hydraulic cylinder, a rear pin shaft seat, a front pin shaft and a rear pin shaft; the front pin shaft seat is connected to the rear mounting plate by bolts, and the rear pin shaft seat is connected to the shredding device by bolts, and the distance between the bolt hole and the center line of the rear mounting plate is 250-300mm.

[0014] The transverse driving mechanism is installed under the hanging plate, including an end hinge support, an end pin, a middle hinge support, a middle pin, and a hydraulic cylinder; the middle hinge support is connected to the rear hanging plate by bolts, arranged on both sides of the middle plate, used to install the middle pin and connect the hydraulic cylinder, and the end hinge support is connected to the rear hanging plate by bolts, symmetrically arranged on the two side plates, used to install the end pin and connect the hydraulic cylinder.

[0015] The height detection device includes a spring cylinder, a telescopic rod, a connecting pin, a contour wheel and a displacement sensor; the inner diameter of the spring cylinder is equal to the outer diameter of the spring, the matching method is a clearance fit, the diameters are both 50-55mm, the bottom surface of the spring cylinder is tangent to the bottom surface of the rear mounting plate, the distance from the tangent surface of the telescopic rod to the geometric center of the contour wheel is 200-300mm, the outer diameter of the contour wheel is 180-185mm, and the edge of the wheel is chamfered.

[0016] The angle detection device comprises a profiling plate and an angle sensor. The profiling plate is connected to the cutting platform in an articulated manner. The articulated seat is connected to the cutting platform through bolts. There are two articulated seats arranged on both sides of the cutting platform.

[0017] The number of the angle sensors is two, and the angle sensors are fixed at the hinge of the contour plate through threaded connection.

[0018] A displacement sensor (35) installed on the spring cylinder (31) measures a first ground clearance as L1 and a second ground clearance as L2.

[0019] When the left and right wheels of the combine harvester are operating on an uneven farmland, one side of the telescopic rod (32) is extended and the other side is retracted, and the displacement sensor (35) transmits the height value to the control module. The control module calculates the height difference between the two sides as ∆L. The control module calculates the required rotation angle value of the cutting table as β based on the height difference ∆L, and calculates the rotation angle value of the cutting table as β. β The first hydraulic cylinder (25) and the second hydraulic cylinder (26) are converted into a telescopic value ∆Z, and the control module controls the three-position four-way electromagnetic reversing proportional valve 2 (77) to be energized. The three-position four-way electromagnetic reversing proportional valve 2 (77) converts the input current into a displacement output of the first hydraulic cylinder (25) and the second hydraulic cylinder (26), thereby controlling the telescopic movement of the first hydraulic cylinder (25) and the second hydraulic cylinder (26), and the telescopic movement value is ∆Z, thereby completing the lateral adjustment of the cutting platform and realizing the lateral flexible profiling of the cutting platform.

[0020] The angle sensor (62) installed on the cutting platform (1) measures the angle γ between the profiling plate (61) and the ground, and calculates the height h of the cutting platform from the ground according to the angle γ between the profiling plate (61) and the ground. The extension amount M of the third acting hydraulic cylinder (55) is obtained according to the height h of the cutting platform from the ground. 1， M2, the control module controls the three-position four-way electromagnetic reversing proportional valve 1 (76) to be energized, and the three-position four-way electromagnetic reversing proportional valve 1 (76) converts the input current into the displacement output of the third acting hydraulic cylinder (55), thereby controlling the extension and retraction of the third acting hydraulic cylinder (55), and the extension and retraction value is , complete the longitudinal adjustment of the cutting platform and realize the longitudinal flexible profiling of the cutting platform.

[0021] The beneficial effects of the present invention are concentrated in the following aspects:

[0022] 1. The coupling mechanism adopts the bearing type connection method, which has the advantages of large contact area, strong load-bearing capacity, and stable lateral profiling control of the header.

[0023] A spring-tube-type flexible header profiling device is used. The profiling wheel is in real-time contact with the ground. Through the action of the spring tube, the time it takes for the header to adapt to ground fluctuations is shortened, solving the problem of the profiling wheel lagging behind the terrain below the header and improving the profiling accuracy.

[0024] A relatively simple numerical conversion method is adopted to convert the values ​​measured by the sensor into the extension and contraction values ​​of the hydraulic cylinders of the horizontal and longitudinal drive mechanisms of the header through geometric analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to clearly illustrate the embodiments and technical solutions of the present invention, the drawings required for use in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative work.

[0026] Figure 1 It is a schematic diagram of the flexible profiling device of the cutting table of a combine harvester.

[0027] Figure 2 It is a cross-sectional view of the header attachment mechanism.

[0028] Figure 3 It is a partial enlarged view of the header attachment mechanism.

[0029] Figure 4 It is a side view of the header attachment mechanism.

[0030] Figure 5 This is a schematic diagram of the installation of the contour wheel.

[0031] Figure 6 It is a sectional view of the installation of the transverse drive mechanism.

[0032] Figure 7 It is the installation diagram of the longitudinal drive mechanism.

[0033] Figure 8 It is the hydraulic control schematic diagram.

[0034] Fig. 9 It is a control flow chart of the longitudinal profiling of the header.

[0035] Fig.10 It is a control flow chart of the lateral profiling of the header.

[0036] Fig.11 This is the principle diagram of the automatic profiling of the cutting table.

[0037] In the figure, 1-cutting table, 2-lateral driving mechanism, 3-height detection device, 4-hook mechanism, 5-longitudinal driving mechanism, 6-angle detection device, 11-feeding roller, 12-chopping device, 21-end hinge support, 22-end pin shaft, 23-middle hinge support, 24-middle hinge support, 25-first acting hydraulic cylinder, 26-second acting hydraulic cylinder, 27-middle plate, 31-spring cylinder, 32-telescopic rod, 33-connecting pin shaft, 34-contact wheel, 35-displacement sensor, 41-front hanging plate, 42-rear hanging plate, 43- Upper bearing, 44-lower bearing, 45-upper half shaft, 46-lower half shaft, 47-pin shaft, 48-threaded pin, 49-bearing seat, 411-oil filling hole, 412-oil groove, 51-front hinge support, 52-rear hinge support, 53-front pin shaft, 54-rear pin shaft, 55-third acting hydraulic cylinder, 61-profile plate, 62-angle sensor, 71-hydraulic oil tank, 72-filter, 73-variable pump, 74-overflow valve, 75-check valve one, 76-three-position four-way solenoid directional proportional valve one, 77-three-position four-way solenoid directional proportional valve two. DETAILED DESCRIPTION

[0038] The specific embodiments of the present invention are described in detail below in conjunction with the accompanying drawings. In order to avoid too many unnecessary details, the well-known structures or functions will not be described in detail in the following embodiments. The approximate language used in the following embodiments can be used for quantitative expression, indicating that the quantity can be allowed to have a moderate change without changing the basic function. Except for the definitions, the technical and scientific terms used in the following embodiments have the same meanings as those generally understood by those skilled in the art to which the present invention belongs.

[0039] Example 1

[0040] like Figure 1 As shown, a flexible profiling device for a harvester cutting table mainly comprises a cutting table 1, a lateral driving mechanism 2, a height detection device 3, a hanging mechanism 4, a longitudinal driving mechanism 5, and an angle detection device 6.

[0041] In this embodiment, Figure 2~Figure 4 As shown, the hooking mechanism 4 is hooked to the cutting platform 1 and connected to the feeding roller 11 through a pin shaft, so that the cutting platform 1 can be quickly hooked and the longitudinal and lateral posture adjustments can be achieved.

[0042] The feeding roller 11 is connected to the chopping device.

[0043] The harvesting platform mounting mechanism 4 comprises a front mounting plate 41, a rear mounting plate 42, an upper bearing 43, a lower bearing 44, an upper half shaft 45, a lower half shaft 46, a pin 47, a threaded pin 48 and a bearing seat 49; the upper bearing 43 and the lower bearing 44 of the front mounting plate 41 are respectively connected to the upper half shaft 45 and the lower half shaft 46 of the rear mounting plate in a surface contact manner, wherein the arc length of the upper bearing 43 is 600-800mm and the radius is 150-200mm, and the arc length of the lower bearing 44 is 300-500mm and the radius is 200-300mm.

[0044] The bearing is provided with an oil groove 411 to generate an oil film between the bearing and the half shaft, which is beneficial for the bearing to swing left and right around the half shaft, with a swing range of 0°-7.5°, so as to adjust the lateral profiling of the cutting platform.

[0045] Furthermore, in this embodiment, if Figure 5 As shown, the height detection device 3 is installed on both sides of the hanging mechanism 4 and is used to monitor the lateral tilt angle of the cutting platform 1. The height detection device 3 includes a spring tube 31, a telescopic rod 32, a connecting pin 33, a contour wheel 34 and a displacement sensor 35.

[0046] When the combine harvester is working on a transverse slope terrain, the contoured wheels 34 located on both sides of the attachment mechanism 4 are in real-time contact with the ground. Due to the different heights on both sides, the displacement sensor installed on the spring tube 31 detects different height values. The control module receives the displacement analog signal of the displacement sensor 35, and analyzes and calculates the height difference ∆L on both sides. The control module calculates the rotation angle value β according to the height difference ∆L, and converts the angle value β of the rotation of the cutting table 1 into the expansion and contraction value ∆Z of the first acting hydraulic cylinder 25 and the second acting hydraulic cylinder 26. The control module controls the three-position four-way electromagnetic reversing proportional valve 2 77 to be energized, and the three-position four-way electromagnetic reversing proportional valve 2 77 converts the input current into the displacement output of the first acting hydraulic cylinder 25 and the second acting hydraulic cylinder 26, thereby controlling the expansion and contraction of the first acting hydraulic cylinder 25 and the second acting hydraulic cylinder 26, and the expansion and contraction value is ∆Z, and the hydraulic cylinder is driven to complete the angle adjustment of the cutting table.

[0047] The angle detection device 6 is installed at the bottom of the cutting platform 1 and is used to monitor the longitudinal height of the cutting platform 1 from the ground. The angle detection device 6 includes a profiling plate 61 and an angle sensor 62, wherein the angle sensor 62 is installed at the hinge of the profiling plate 61 to drive the angle sensor 62 to rotate. The angle sensor measurement range is 0-90°. The surface height profiling detection device can detect an angle range of 0-51.2°. The control module can receive the rotation analog signal of the angle sensor 62 and analyze and calculate the longitudinal height h of the cutting platform 1 from the ground, corresponding to a detectable height range of 160mm-700mm. The telescopic amount M of the third acting hydraulic cylinder 55 of the longitudinal driving mechanism of the cutting platform is calculated based on h. 1，M2, the control module controls the three-position four-way electromagnetic reversing proportional valve 76 to be energized, and the three-position four-way electromagnetic reversing proportional valve 76 converts the input current into the displacement output of the third acting hydraulic cylinder 55, thereby controlling the extension and retraction of the third acting hydraulic cylinder 55, and the extension and retraction value is ∆M.

[0048] In this embodiment, Figure 6 As shown, the lateral drive mechanism 2 is installed between the front mounting plate 41 and the rear mounting plate 42 of the mounting mechanism 4, and is used to adjust the lateral inclination angle of the cutting platform so that the cutting platform 1 is consistent with the direction of the field slope.

[0049] The lateral control system includes a hydraulic actuator and a control module composed of two groups of hydraulic oil circuits. The hydraulic actuator is composed of a lateral drive mechanism 2. The control module is the key core device of automatic profiling, including a control handle, a control panel, a human-computer interaction interface, a solenoid valve and the above-mentioned displacement sensor, etc., which controls the action of the lateral drive mechanism to complete the lateral profiling of the cutting platform.

[0050] In this embodiment, Figure 7 As shown, the longitudinal drive mechanism 5 is connected to the hanging mechanism 4 through a pin shaft, and is connected to the chopping device 12 through a pin shaft, so as to adjust the longitudinal height of the cutting platform from the ground, so that the height value of the cutting platform 1 and the field ground is kept stable. The longitudinal control system includes a hydraulic actuator and a control module. The hydraulic actuator is composed of the longitudinal drive mechanism 5. The control module includes a control handle, a control panel, a human-computer interaction interface, a solenoid valve and the above-mentioned angle sensor, etc., which control the action of the longitudinal drive mechanism of the cutting platform.

[0051] In this embodiment, the electrical signal emitted by the control module composed of a control handle, a control panel, a human-machine interface, a solenoid valve and a sensor acts on the hydraulic execution system, which can realize the longitudinal and lateral posture adjustment of the cutting platform. The hydraulic execution system includes a hydraulic oil tank 71, a filter 72, a variable pump 73, a relief valve 74, a one-way valve 75, a three-position four-way solenoid reversing proportional valve 1 76, and a three-position four-way solenoid reversing proportional valve 2 77.

[0052] The oil inlet of the three-position four-way electromagnetic reversing proportional valve 2 77 of the hydraulic component located in the transverse drive circuit is connected to the oil outlet of the variable pump 73, and the first acting hydraulic cylinder 25 and the second acting hydraulic cylinder 26 are connected in parallel.

[0053] In this embodiment, Fig.11 As shown, the displacement sensor 35 installed on the spring tube 31 measures the first ground clearance L1 and the second ground clearance L2. When the left and right wheels of the combine harvester are operating on uneven farmland, one side of the telescopic rod 32 is extended and the other side is contracted. The height difference between the two sides is calculated and recorded as , the angle that the header needs to rotate is .

[0054] Among them, L1+ is the length of the telescopic rod when extended, L 2- is the length of the telescopic rod when it is retracted, ∆L is the height difference between the two sides of the telescopic rod, D is the installation distance of the contour wheels on both sides, and β is the angle value of the header 1 that needs to be rotated.

[0055] The angle value β of the cutter 1 rotation is converted into the extension value ∆Z of the first acting hydraulic cylinder 25 and the second acting hydraulic cylinder 26, and the calculation formula is: .

[0056] The control module controls the three-position four-way electromagnetic reversing proportional valve 2 77 to be energized, and the three-position four-way electromagnetic reversing proportional valve 2 77 converts the input current into the displacement output of the first acting hydraulic cylinder 25 and the second acting hydraulic cylinder 26, thereby controlling the extension and retraction of the first acting hydraulic cylinder 25 and the second acting hydraulic cylinder 26, and the extension and retraction value is ∆Z, completing the lateral adjustment of the cutting platform and realizing the lateral flexible profiling of the cutting platform.

[0057] The oil inlet of the three-position four-way electromagnetic reversing proportional valve 76 of the hydraulic component located in the longitudinal drive circuit is connected to the oil outlet of the variable pump 73, and the two hydraulic cylinders 55 are connected in parallel.

[0058] The power input of the variable pump 73 is provided by the engine, which converts the engine mechanical energy into hydraulic energy. The oil inlet of the variable pump 73 is connected to the hydraulic oil tank 71 through the filter 72 to provide high-pressure oil for the hydraulic circuit.

[0059] In this embodiment, Fig.11 As shown, the angle sensor 62 installed on the header 1 measures the angle γ between the contour plate and the ground, and the calculation formula for the height h of the header from the ground can be obtained as follows: .

[0060] Among them, γ is the angle between the contour plate and the ground, h is the height of the header from the ground, and d is the horizontal installation distance of the angle sensor from the vertical surface behind the header.

[0061] In this embodiment, Fig.11 As shown in the figure, the height change ∆h of the header is adjusted according to the needs of the header to obtain the extension and contraction amount M of the hydraulic cylinder of the header longitudinal drive mechanism. 1， The calculation formula of M2 is:

[0062] .

[0063] .

[0064] .

[0065] Among them, M2 is the normal extension and contraction amount of the hydraulic cylinder, M1 is the amount of extension and contraction required by the hydraulic cylinder, ∆M is the extension and contraction change of the hydraulic cylinder, h1 is the height of the header from the ground after adjustment, and ∆h is the height change of the header adjustment.

[0066] The control module controls the three-position four-way electromagnetic reversing proportional valve 76 to be energized, and the three-position four-way electromagnetic reversing proportional valve 76 converts the input current into the displacement output of the third acting hydraulic cylinder 55, thereby controlling the extension and retraction of the third acting hydraulic cylinder 55, and the extension and retraction value is ∆M, completing the longitudinal adjustment of the cutting platform and realizing the longitudinal flexible profiling of the cutting platform.

[0067] The above descriptions are only preferred embodiments of the present invention, not all embodiments. Any modifications, equivalent replacements or improvements made within the scope of application of the present invention should be included in the protection scope of the present invention.

Claims

1. A flexible profiling device for a harvester header, comprising a header (1), a lateral drive mechanism (2), a height detection device (3), a hooking mechanism (4), a longitudinal drive mechanism (5), and an angle detection device (6), characterized in that: The hanging mechanism (4) comprises a front hanging plate (41), a rear hanging plate (42), an upper bearing (43), a lower bearing (44), an upper half shaft (45), a lower half shaft (46), a pin shaft (47), a threaded pin (48), and a bearing seat (49); the cutting table (1) is connected to the feeding roller (11) through the hanging mechanism (4), and a triangular convex ridge is provided at the upper end of the hanging mechanism (4), the convex ridge has a length of 400-450 mm, and is placed in the triangular groove of the cutting table (1); The upper bearing (43) and the lower bearing (44) of the front mounting plate (41) are in surface contact with the upper half shaft (45) and the lower half shaft (46) of the rear mounting plate (42); the arc length of the upper bearing (43) is 600-800 mm and the radius is 150-200 mm; the arc length of the lower bearing (44) is 300-500 mm and the radius is 200-300 mm; the oil grooves (411) are respectively provided on both sides of the upper bearing (43) and the lower bearing (44); the oil grooves (412) are symmetrically distributed in the circumferential direction; the upper half shaft (45) and the lower half shaft (46) swing around the upper bearing (43) and the lower bearing (44) at an angle ranging from 0° to 7.5°; The rear mounting plate (42) is connected to the feed roller (11) via a bearing, the bearing seat (49) is connected to the rear mounting plate (42) via bolts, the height detection device (3) is fixed via a threaded pin (48), and the threaded pin (48) is connected to the rear mounting plate (42) via bolts.

2. A combine harvester header flexible profiling device according to claim 1, characterized in that: The longitudinal drive mechanism (5) comprises a front pin shaft seat (51), a rear pin shaft seat (52), a front pin shaft (53), a rear pin shaft (54), and a third acting hydraulic cylinder (55); the front pin shaft seat (51) is connected to the rear mounting plate (42) by bolts, and the rear pin shaft seat (52) is connected to the chopping device (12) by bolts, and the distance between the bolt hole and the center of the rear mounting plate (42) is 250-300 mm; The transverse driving mechanism (2) comprises an end hinge support (21), an end pin (22), a middle hinge support (23), a middle pin (24), a first acting hydraulic cylinder (25), and a second acting hydraulic cylinder (26). The transverse driving mechanism (2) is installed below the mounting plate; the middle hinge support (23) is connected to the rear mounting plate (42) by bolts and is symmetrically arranged on both sides of the middle plate (27); the threaded hole of the middle hinge support (23) is opened at the geometric center of the middle plate (27). The middle hinge support (23) is connected to the first acting hydraulic cylinder (25) through the middle pin shaft (24), the middle plate (27) is welded at the center position of the rear mounting plate (42), the end hinge support (21) is connected to the rear mounting plate (42) through bolts, the end hinge supports (21) are symmetrically arranged on the two side plates of the middle plate (27), the bolt holes are opened at the geometric center of the middle plate (27), and the end hinge supports (21) are connected to the first acting hydraulic cylinder (25) through the end pin shaft (22).

3. The flexible profiling device for a combine harvester header according to claim 1, characterized in that: The height detection device (3) comprises a spring cylinder (31), a telescopic rod (32), a connecting pin (33), a profiling wheel (34), and a displacement sensor (35); the inner diameter of the spring cylinder (31) is equal to the outer diameter of the spring, the fitting method is a clearance fit, the bottom surface of the spring cylinder (31) and the bottom surface of the rear mounting plate (42) are on the same horizontal plane, the distance from the bottom surface of the spring cylinder (31) to the geometric center of the profiling wheel (34) is 200-300 mm, the outer diameter of the profiling wheel (34) is 180-185 mm, and the wheel edge is chamfered.

4. The flexible profiling device for a combine harvester header according to claim 1, characterized in that: The angle detection device (6) comprises a profiling plate (61) and an angle sensor (62). The profiling plate (61) and the cutting table (1) are connected in an articulated manner. The articulated seat is connected to the cutting table (1) by bolts. The number of the articulated seats is two and they are arranged on both sides of the cutting table (1) at a distance of 450-500 mm from the rear vertical surface of the cutting table (1). The number of the angle sensors (62) is two and the angle sensors (62) are fixed to the articulated portion of the profiling plate (61) by threaded connection.

5. A method for controlling the flexible profiling of a combine harvester header, characterized in that: The header flexible profiling control method is used to control the header flexible profiling device according to any one of claims 1 to 4, and the method comprises the following steps: Step S1: a displacement sensor (35) installed on the spring tube (31) measures a first ground clearance height L1 and a second ground clearance height L2; Step S2: When the left and right wheels of the combine harvester are operating on an uneven farmland, one side of the telescopic rod (32) is extended and the other side is retracted. The displacement sensor (35) transmits the height value to the control module. The control module calculates the height difference between the two sides of the telescopic rod (32) as ∆L. The calculation formula is: Formula 1 Among them, L 1+ is the length of the telescopic rod (32) when extended, L 2- is the length of the telescopic rod (32) when it is retracted, and ∆L is the height difference between the two sides of the telescopic rod (32); Step S3: The control module calculates the rotation angle value β according to the height difference ∆L. The calculation formula is: Formula 2 Wherein, D is the installation distance between the two sides of the contour wheel, and β is the angle value of the cutting table (1) rotation; The angle value β of the cutter (1) is converted into the extension value ∆Z of the first acting hydraulic cylinder (25) and the second acting hydraulic cylinder (26) by the calculation formula: Formula 3 The control module controls the three-position four-way electromagnetic reversing proportional valve 2 (77) to be energized, and the three-position four-way electromagnetic reversing proportional valve 2 (77) converts the input current into the displacement output of the first acting hydraulic cylinder (25) and the second acting hydraulic cylinder (26), thereby controlling the extension and retraction of the first acting hydraulic cylinder (25) and the second acting hydraulic cylinder (26), and the extension and retraction value is ∆Z, thereby completing the lateral adjustment of the cutting platform and realizing the lateral flexible profiling of the cutting platform; Step S4: the angle sensor (62) installed on the header (1) measures the angle between the contour plate (61) and the ground to be γ; Step S5 calculates the height h of the cutting platform from the ground according to the angle γ between the contour plate (61) and the ground, and the calculation formula is: Equation 4 Wherein, d is the horizontal installation distance of the vertical plane behind the cutting platform from the angle sensor (62), and the extension amount M of the third acting hydraulic cylinder (55) of the longitudinal driving mechanism of the cutting platform is calculated according to ∆h. 1， M2, calculated as: Formula 5 Formula 6 Formula 7 Among them, M2 is the extension and retraction amount of the hydraulic cylinder on the ground without slope of the front and rear wheels of the combine harvester, M1 is the extension and retraction amount required by the hydraulic cylinder on the ground with slope of the front and rear wheels of the combine harvester, ∆M is the extension and retraction change amount required by the hydraulic cylinder on the ground with slope of the front and rear wheels of the combine harvester, h1 is the height of the header after adjustment, and ∆h is the height change of the header adjustment; The control module controls the three-position four-way electromagnetic reversing proportional valve 1 (76) to be energized, and the three-position four-way electromagnetic reversing proportional valve 1 (76) converts the input current into the displacement output of the third acting hydraulic cylinder (55), thereby controlling the extension and retraction of the third acting hydraulic cylinder (55), the extension and retraction value of which is ∆M, to complete the longitudinal adjustment of the cutting platform and realize the longitudinal flexible profiling of the cutting platform.

Images