EP2122069B1 - Ground-working machine - Google Patents

Abstract

The invention relates to a ground-working machine (11) equipped with a drive and with transporting means (21). Its transporting means (21) serve inter alia to carry a supporting structure (23) at a distance from the positioning plane of the machine, on which supporting structure (23) is arranged, in the region of a central axis (Z), a cutting tool (25) with at least one transverse cutting roller (13) for working the ground on which the ground-working machine is standing. The cutting roller (13) can be rotated about its roller axis (V). This roller axis (V) can be pivoted about a steering axis (W), which steering axis (W) is arranged in the direction of the central axis (Z) at a distance from the transporting means (21).

Description

The invention relates to a terrain processing machine with a cylindrical, transverse cutting tool. Such machines are known for leveling the road in road construction, the demolition of buildings and facilities, the excavation of ditches and pits, the removal of root formations and rock formations, as well as for rock excavation in tunneling and mining of mines, e.g. Gypsum, coal or salt mines. The axis of the cutting tool is adjustable in the machines for the track construction in height, but unverschwenkbar, installed in a crawler-mounted vehicle.

From the U.S. Patent No. 6,725,579 An excavating machine is known, which is designed as a tracked vehicle, on which a rearward arranged in the direction of travel excavation is arranged. This is subdivided into a first, vehicle-related area and a second, vehicle-related area. The first area is pivotable about a horizontal axis in height. The second area comprises a cutting tool, which in a known manner has a chain drive and a cutting roller on both sides of this chain drive. The second region of the excavation arm can be pivoted by a few degrees relative to the first region of the excavation arm about an axis oriented in the arm direction. This allows the adaptation of the bank of the worked ground.

From the DE 28 16 723 is a self-propelled milling machine for underground mining known with a height of a swivel chair of the chassis and seitenverschwenkbar mounted cutting arm. In the aforementioned milling machine, the cutting arm is mounted with its swivel chair on a base frame, which is arranged to be movable on the head side of the chassis provided with a wheeled chassis.

In most other machines, which are also heavy tracked machines, the roller-type cutting tool is attached to an arm, which arm is pivotable about a horizontal axis to define the working height of the cutting tool. The arm is often pivotable about a vertical axis to extend the work area in width, ie transverse to the direction of travel of the machine. Such machines are particularly useful in tunneling, since they offer the opportunity to expand the tunnel profile both in height and in width to the planned dimensions.

Under transverse cutting tools are understood cutting tools that have a transverse axis to the Schrämrichtung axis of rotation. Their propulsion in the direction of the axis of rotation is only limited possible, namely as long as the Schrämtiefe corresponds approximately to the distance of Schrammisselspitzen from the roll surface on which they are fixed. As a rule, transverse cutting rollers are by two next to each other on a common Roll axis lying, roller-like, equipped with chisels Schrämkörper formed between which the drive and the suspension is arranged.

Such cutting tools can also be attached to an excavator. There they can be mounted according to their needs in two mutually perpendicular directions. The roll axis is therefore perpendicular to a vertical plane through the excavator, or parallel to this plane.

From the two publications DE 2411244 and DE 2 264 710 are known machines for milling road pavement. These machines have a chassis with drive motor and a propeller shaft driven by a propeller shaft. The milling drum is wider in operation than the chassis. For the pure driving operation of the machine, the milling drum is detachable from the drive and, together with a frame, can be pivoted by 90 degrees into a rest position, in which the entire milling drum is located within the outer longitudinal boundary lines of the machine. It is thereby achieved that makes the low on the degree of use impacting excess width of the milling drum during transport not disturbing.

For the road construction in poorly accessible area, the known machines are not suitable. They are too big and not very flexible. Ways, e.g. Trails, follow tight curves that these known machines can hardly follow, and have a width of 1 m to 1.5 m, so that can not be driven on such machines that require a route of at least about 2 meters.

It is therefore the object of the invention to provide a terrain processing machine with which hiking trails and the like can be built.

This object is achieved according to the invention by a terrain processing machine according to claim 1.

In known manner, the inventive terrain machine is equipped with a drive and with locomotion organs. These locomotion organs are used to move the terrain processing machine along a central axis of the Terrairi processing machine, or to pivot the position of this central axis with respect to the directions in order to move the machine in the desired direction. They at least partially define a working plane of the terrain processing machine and carry a supporting structure at a distance from this place level. On the support structure is arranged in the region of the central axis a cutting tool with at least one transverse or arranged in a transverse position cutting roller. The cutting tool can and should be used to machine a substrate on which the terrain machine is standing. The cutting roller has on its roll circumference on the direction of rotation of the cutting roller aligned chisel and is rotatable for Schrämen by a drive in the rotational direction about its roll axis.

In such a machine according to the invention, the roller axis of the driven cutting roller is designed to pivot about a steering axis. Therefore, the cutting roller in each rotational position of the roll axis with respect to the steering axis is driven. Steering axle is understood to mean an axle which makes it possible to move the roller axle e.g. deflect out of a horizontal and directed perpendicular to the central axis position in a directed at an angle to the central axis position. Thus, the cutting roller is in the deflected state in the region of the substrate to be processed and can process this, the steering axis is arranged in the direction of the central axis at a distance from the locomotion organs. The greater this distance to the locomotion organs, the greater is the possible pivot angle of the cutting roller, within which the cutting roller does not come next to a lane of the machine. Corresponds to the distance between locomotion organs and the steering axis of at least half the width of the cutting roller, as provided for in the invention, it can be deflected by 90 degrees to the left and to the right, without having to get near the lane. At a distance between the steering axis and the roller axis of half the track width, the working range of the cutting roller is always within the lane width. The work area, defined by the distances between the steering axle and locomotion organs on the one hand and between the steering axle and roller axle on the other hand, should advantageously allow to rotate the driven roller within the lane by 360 degrees. This allows the roller to machine the ground in the lane area in any desired direction. Furthermore, the steering axis intersects the roll axis or it is arranged at a distance to the roll axis, which corresponds to a maximum of 3/5 of the width of the terrain processing machine.

Expediently, the cutting tool is arranged on the support structure in such a way that the cutting roller can be arranged above the adjustment plane such that its roll circumference touches the setting plane. In this position, the steering axis of the cutting roller 0 to a maximum of 45 degrees from a vertical to the plane to deviate. If the steering axis is a vertical to the plane, then the Cutting roller are rotated about this and the contact area between the circumference of the cutting roller and the ground is in each rotational position in the plane. An inclined steering axis is advantageous on a vertical plane parallel to the central axis of the machine. With an inclined steering axle, when the roller axle is deflected, it is likewise inclined with respect to the actuating plane. Therefore, a curved cross profile of a path can be easily shrunk with a cutting roller with inclined steering axis.

The inclination of the steering axle may be sloping from back to front, as in a bicycle, or oppositely formed from rear to front rising. A preferred deviation of the steering axis from the vertical to the place level is between 0 and 30 degrees. Angles in the range up to 15 degrees are particularly preferred.

If the steering axis intersects the roll axis, this results in a circular working area of the cutting roller with the radius equal to half the width of the cutting roller. However, if the steering axis lies between the roller axis and the locomotion organs, or else with respect to the locomotion organs and at a distance from the roller axis, this results in a larger, but annular working area. An advantageous distance of the steering axis to the roll axis is at most 3/5 of the width of the terrain processing machine. Thus, the working range of the 90 ° deflected cutting roller only slightly beyond the lane of the machine out.

In a simple embodiment, the machine is equipped with a single cutting roller. However, further embodiments may have two and more cutting rollers. These can be combined into one, two or more cutting tools. A preferred of these embodiments is characterized in that the cutting tool comprises two cutting rollers. The roller axes of these two cutting tools are each a separate steering axis, that is, about two spaced steering axes, mutually adjustable. This allows the two cutting tools to act in different directions on the ground. As a result, the forces occurring due to the slipping in the machine could be partially directed against each other. Further, for example, beveled material with deflected and rotating cutting rollers can be moved in a desired direction. This can be used to design a route.

In advantageous embodiments of the invention, the cutting tool comprises a frame part, which is pivotable relative to the support structure. The steering axle can then be formed between the frame part and the support structure. But it can also be the steering axis between the cutting roller and the frame part and in addition a pivot axis between the frame part and Support structure to be formed. The orientation of such a pivot axis need not be parallel to the steering axis.

Rather, the frame part can be pivotable about an axis parallel to the central axis relative to the support structure in order to define a transverse inclination of the scrapped ground via an inclination of the scraper line (or roll axis) to the set plane.

Furthermore, the frame part can be pivoted relative to the support structure about a substantially horizontal axis, which is perpendicular to the central axis. This substantially horizontal axis can be pivotable about the axis parallel to the central axis. Conversely, the axis parallel to the central axis may also be pivotable about the aforementioned substantially horizontal axis.

Furthermore, the frame part can be pivoted relative to the support structure about a substantially vertical axis, which is perpendicular to the central axis. The steering axle then does not coincide with this vertical axis, but is formed between the frame part and the or each cutting roller. Further, it may also be formed together between the frame part and the cutting rollers. This further allows to arrange the cutting tool next to the lane of the machine, or to arrange over the lane protruding, and it facilitates cornering.

As locomotion organs are caterpillars, walking units and wheels in question. Also combinations of wheels and walking units, combinations of cutting tools and walking units, or other combinations are conceivable. In principle, cutting tools can also be provided as locomotion organs. This can be done in that the machine is parked on the cutting rollers, or has no other locomotion organs. In this case, the cutting roller is used differently, namely partly as a locomotion organ, partly as a cutting tool, partly as both at the same time.

The cutting tools can be used in any embodiment of the inventive machine as drive members and used for locomotion.

The locomotion organs, ie walking units, wheels, caterpillars or cutting tools, can be adjusted in height relative to the supporting structure be designed to compensate for terrain bumps and easier to achieve a desired Schrämergebnis.

For a coordinated control of the individual cutting tools and locomotion organs, it is practically essential to provide a control unit that performs this coordination computer-assisted. The commands that the machine has to carry out are then much more targets, which the control unit converts into targeted control of the individual drive elements, locomotives, graders and cutting tools and controls them by means of sensors. Such sensors detect e.g. the orientation of the machine with respect to the cardinal directions, the horizontal (bank, slope of the ground or the machine), distance of the cutting tools to environmental elements, position of the cutting tools, speed, etc.

In a particular expansion variant of such - or similar and different from the above-described invention - terrain processing machines, the machine is equipped with a receiver for the "Global Positioning System" (GPS) and a navigation system. The former can determine the position of the machine in terms of absolute coordinates, and the second determine the route to be crossed in order to reach a specific location. This serves for the planned control of the control unit, so that the terrain processing machine can follow a predetermined, three-dimensionally determined path and creates it. Such a terrain working machine has in common with those already described that it is equipped with a drive and locomotion organs that serve locomotives to move the terrain working machine along a central axis of the terrain working machine, at least partially defining a locating plane of the terrain working machine and carry a support structure at a distance from this place level. This supporting structure is equipped in the region of the central axis with a cutting tool which comprises at least one transverse cutting roller for processing a substrate on which the terrain processing machine stands. This cutting roller has on its roll circumference aligned with the direction of rotation of the cutting roller chisel and is rotatable for Schrämen by a drive in the rotational direction about its roll axis. According to this second invention, the terrain processing machine is equipped with an electronic controller and a navigation system (including GPS receiver or the like) for scheduled control of the control unit, so that the terrain processing machine can follow a predetermined, three-dimensionally determined path by the drive and the at least one cutting tool are controlled such that the Terrain processing machine automatically scratches an electronically entered terrain modulation.

A third idea is that in the machine according to the preamble of claim 1, the cutting tool together with the locomotion organs defines the setting plane. This means that the cutting tool can not be raised, but must stand on the ground. In such a simple machine, the locomotion organs define only one line, with the cutting tool standing at a distance from this line on the ground.

Yet another approach is that the machine according to the preamble of claim 1 is equipped with two cutting rollers, the roll axes are aligned independently of each other.

• Fig.1 eine perspektivische Ansicht eines ersten Ausführungsbeispiels der Erfindung mit einer einzigen Schrämwalze und einem Raupenantrieb.
• Fig. 2 eine perspektivische Ansicht eines zweiten Ausführungsbeispiels mit einer einzigen Schrämwalze und zwei Rädern.
• Fig. 3 eine perspektivische Ansicht eines dritten Ausführungsbeispiels mit zwei unabhängig betätigbaren Schrämwalzen und zwei Rädern.
• Fig. 4 eine perspektivische Ansicht eines vierten Ausführungsbeispiels mit zwei Schrämwalzen und Raupenantrieb.
• Fig. 5 eine perspektivische Ansicht eines fünften Ausführungsbeispiels mit sechs unabhängig verstell- und antreibbaren Schrämwalzen.
• Fig. 6 eine perspektivische Untersicht unter das fünfte Ausführungsbeispiel.
• Fig. 7 eine perspektivische Ansicht der Tragstruktur und der Rahmenteile der Schrämwerkzeuge des fünften Ausführungsbeispiels mit einer Übersicht über die diversen möglichen Achsen.
• Fig. 8 eine Seitenansicht eines sechsten Ausführungsbeispiels mit Rädern und Schreiteinheiten.
• Fig. 9 eine perspektivische Ansicht eines siebten Ausführungsbeispiels mit Raupen und hinten und vorne einem Schrämwerkzeug.

The invention will be explained in more detail below with reference to schematic drawings. It shows:

• Fig.1 a perspective view of a first embodiment of the invention with a single cutting roller and a caterpillar drive.
• Fig. 2 a perspective view of a second embodiment with a single cutting roller and two wheels.
• Fig. 3 a perspective view of a third embodiment with two independently operable cutting rollers and two wheels.
• Fig. 4 a perspective view of a fourth embodiment with two cutting rollers and caterpillar drive.
• Fig. 5 a perspective view of a fifth embodiment with six independently adjustable and driven cutting rollers.
• Fig. 6 a perspective bottom view of the fifth embodiment.
• Fig. 7 a perspective view of the support structure and the frame parts of the cutting tools of the fifth embodiment with an overview of the various possible axes.
• Fig. 8 a side view of a sixth embodiment with wheels and walking units.
• Fig. 9 a perspective view of a seventh embodiment with caterpillars and rear and front of a cutting tool.

In the embodiments according to Figures 3 . 5 and 6 For example, the cutting roller 13 are misrepresented in that all of the chisels 15 should be aligned in the same direction of rotation. In these figures, however, the chisels 15 are generally to one side of the roll suspension 17 on a Rotation in one direction, on the other side of the roller suspension 17, is erroneously designed for rotation in the opposite direction.

Probably, this illustrated arrangement of Schrämmeissel 15 can be selected, and the cutting rollers are then driven left and right of the roller suspension 17 in opposite directions. However, this is not generally so provided, but rather a normally unselected variation of the cutting roller 13th

• Sie stehen mit Fortbewegungsorganen 21 auf einem (nicht dargestellten) Untergrund. Sie haben eine Trägerstruktur 23 (vergleiche Fig. 7), an der Schrämwerkzeuge 25 angeordnet sind, und die durch die Fortbewegungsorgane 21 in Abstand zum Untergrund gehalten ist. Die Schrämwerkzeuge 25 sind mit wenigstens einer transversen Schrämwalze 13 bestückt. Die Trägerstruktur 23 trägt die notwendigen Aggregate 43, Steuerungseinheiten 45 und Motoren 47 als Antrieb 27 für den Betrieb der Maschine 11.

The in the FIGS. 1 to 6 Terrain processing machines 11 shown piece by piece have a similar structure:

• They stand with locomotion organs 21 on a (not shown) underground. They have a support structure 23 (cf. Fig. 7 ), are arranged on the cutting tools 25, and which is held by the locomotion 21 at a distance from the ground. The cutting tools 25 are equipped with at least one transverse cutting roller 13. The support structure 23 carries the necessary aggregates 43, control units 45 and motors 47 as a drive 27 for the operation of the machine 11.

The cutting rollers 13 are designed as two roller bodies on the left and on the right of a roller suspension 17 which rotate about a common roller axis V (FIG. Fig. 7 ) are rotatable. The roller suspension 17 is about a steering axis W ( Fig. 7 ) rotatable. As a result, the cutting roller 13 can be aligned as desired with respect to its effective direction, or its roller axis V perpendicular to the direction of action.

It can be provided 47, which drives the locomotion organs directly via a transmission and to which a generator or a hydraulic power unit 43 is connected. The motor can also drive only the unit 43, and all drive elements and mechanical movement elements are then supplied via the hydraulic system or the power with energy. With the current thus produced or the hydraulic pressure thus achieved, the cutting tool 25 and the pivoting members for the cutting tool can be driven in any case. The drive wheels, caterpillars or walking units can be driven electrically or hydraulically.

Corresponding parts are designated in the figures with the same reference numerals, even if they are designed differently.

In the embodiment of a terrain processing machine 11.1 according to FIG. 1 two caterpillars 31 are provided as locomotion organs 21. The caterpillars 31 define a placement plane with their underside. They are driven by a motor, which is not shown. The motor 47 and / or the drive unit 43 and possibly a transmission, as well as a fuel tank may be housed inside a drive box 33.

On the support structure 23, a frame part 35 is articulated. The frame part 35 is part of the cutting tool 25. In the frame part 35, the roller suspension 17 is rotatably mounted about a steering axis W. The roll axis V is rotatable about the steering axis W by 360 degrees. In practice, this angle of rotation may also be limited. The entire cutting tool 25 can be pivoted about the transverse axis U to be raised or lowered. In this case, the steering axis W is pivoted.

At the in FIG. 2 illustrated second embodiment of a terrain machine 11.2, the suspension of the Schrämwerkzeugs drawn from another perspective. Therefore, other features are apparent, which are also given in the first embodiment, but were not described. The suspension of the Schrämwerkzeugs 25 is pivotable about a vertical axis S. The illustrated sequence of the axes S and U could also be reversed.

The embodiment according to FIG. 2 differs from the first embodiment by the locomotion organs 21. Here, these are formed by two wheels 41. These wheels 41 only partially define the locating plane. The machine 11.2 has to use the cutting tool 25 as a further locomotion element 21 and always leave it in contact with the terrain. Alternatively, a grader may be provided, as shown below.

The pivotability of the Schrämwerkzeugs 25 to the transverse axis U is therefore not in this embodiment for lifting the Schrämwerkzeugs, but the pivoting of the steering axis W. With a deviation of the steering axis W from a vertical to the plane, it follows that the roll axis V when pivoting about the steering axis W is inclined relative to the set plane. Therefore, ways can be shrunk with curved or channel-shaped cross sections.

The individual cutting roller 13 of the two embodiments described above is not as wide as the lane. The entire width of the lane, which is given by the distance and the width of the beads 31 or wheels 41, can still be processed, since the cutting tool can be pivoted about the axis S. This vertical axis S is at a distance from the roll axis V, so that when pivoting about this axis S, the entire cutting tool 25, or the steering axis W is moved to the side. By appropriately rotating the cutting roller 13 about the steering axis W, the cutting direction can still be directed parallel to the central axis Z of the machine.

In FIG. 3 a third embodiment 11.3 of the invention is shown. In this, the drive with motor and drive wheels is identical to the second embodiment 11.2. The same freedom with respect to the mobility of the cutting tool 25 is given. In contrast to the second embodiment 11.2, however, two cutting rollers 13 are arranged on the frame part 35. Each of these cutting rollers 13.1, 13.2 is pivotable about its own steering axis W.1, W.2.

It must be imagined that the cutting rollers 13 pull the machine. In the position according to FIG. 3 Therefore, they pull the machine around a curve while working on the terrain. With the drive wheels 41 must therefore be braked above all. They run over the material churned by the cutting roller.

In the third embodiment 11.3, a grader 37 is further arranged between the cutting tool 25 and the locomotion organs 21. Thanks to this grader 37, the created road surface can be made as level as possible and afford the locomotion organs 21 as much resistance as possible on the scarred terrain. In addition, the grader 37 itself can be used to increase the resistance to forward pulling by the cutting rollers 13. Grader 37 and locomotives 21 together define the placement plane of the machine 11.3 so that the cutting tool 25 can be lifted off the terrain.

Such graders 37 may also be provided in the other embodiments. They are expediently in height, in the bank and at an angle relative to the central axis Z adjustable by motor.

This in FIG. 4 illustrated fourth embodiment has, like the embodiment 11.3, two cutting rollers 13 on a frame part 35. These cutting rollers 13 are deflected about the respective steering axis W, so that they against each other or with each other, forward or backward, working towards the side or towards the center and can be used. The caterpillars 31 of the embodiment 11.4 form the setting plane on which the machine stands, and therefore allow the cutting tool 25 to be raised above the set point with corresponding hydraulic cylinders (not shown).

When in the Figures 5 and 6 illustrated fifth embodiment 11.5 are neither caterpillars nor wheels provided. The machine is equipped with six cutting rollers 13.1 to 13.6, which can serve both to Schrämen as well as for moving the machine. In transverse position (cutting rollers 13.3, 13.4) they can be used to move geschrämtem material. In this embodiment, two Schrämwalzen 13.3 and 13.4 are arranged on the support structure 23. At the front and rear of the support structure depending on a cutting tool 25.1, 25.2, each with two cutting rollers 13.1,13.2,13.5,13.6 arranged. The cutting tools can each be pivoted about a vertical axis S.1, S.2 relative to the support structure. The cutting tools can also be pivoted about a respective horizontal axis U.1, U.2. At least one of the cutting tools 25.1 (the front) can also be rotated about an axis R parallel to the central axis Z. Each cutting roller 13 can be rotated about a steering axis W.1 to W.6.

In FIG. 7 these axes, which are formed between the support structure and the frame parts of the cutting tools, as well as the steering axes, which are formed between the frame parts and the cutting rollers, shown in an overview. Since costs are an important factor in the realization of such a machine, not all axes can be realized. In a simplified embodiment, the frame part is thus firmly connected to the support frame, or falls away, and the cutting roller is rotatable about a steering axis. Such a device is also easier to handle than those with multiple cutting tools.

The more cutting tools and cutting rollers such a terrain machine has, the more difficult the handling of the machine and the more urgent is the electronic, computer-assisted control of the individual tools (cutting tools 25, grader 37) and locomotives 21 (cutting rollers 13, caterpillars 31, walking units 61, wheels 41).

In FIG. 8 a sixth embodiment is shown in which walking units 61 are present. With the walking units 61, the machine can be supported. As a result, the pressure with which the cutting tool is placed on the ground can be adjusted. The walking units are particularly suitable for supporting the machine on an unprocessed ground. The machine works accordingly with the cutting tool ahead and the wheels are tightened, and push the machine forward.

A terrain processing machine according to the invention can also be equipped with walking units only. The steering axis W is arranged in this device so far in distance to the walking unit, as both the support point of the walking unit on the ground and the pivot point of the walking unit on the support structure in the direction of the central axis Z are at a distance from the steering axis W. As a result, it is realized that the roll axis V is rotatable about the steering axis W and that the cutting tool can process a width corresponding to the machine gauge. The locomotion organs need in width not more space than the cutting tool can edit. To rotate the Schrämwerkzeugs about the gauge is required corresponding space.

By way of example, a cabin is also shown in this embodiment. Similarly, the other embodiments may be equipped with a driver's seat and possibly with a cabin. The terrain machines can also be designed as remote-controlled machines. They can even be conceived as machines that automatically find the way and pave the way. For this purpose, such a machine is equipped with a GPS and with programmable, intelligent electronics.

The seventh embodiment according to FIG. 9 has rear and front cutting tools 25.1, 25.2, each with two cutting rollers 13. From the illustration, the pivotability of the cutting tools to a central axis Z parallel to the axis R can be seen. Thanks to the rotation of the individual cutting rollers 13 about the steering axes W, the cutting tools 25.1 and 25.2 can be rotated so that they rotate in a common direction and so the vehicle is moved. But they can also be made and driven so that they turn against each other. In this case, the directed in the and against the direction of travel forces largely cancel, so that the machine remains standing even when Schrämen without additional drive substantially in place.

Claims (15)

1. Ground-working machine (11) which is equipped with a drive and with advancement members (21) and the advancement members (21) of which

   - serve to advance the ground-working machine along a central axis (Z) of the ground-working machine,

   - define at least partially a positioning plane of the ground-working machine and

   - carry a supporting structure (23) set apart from this positioning plane, on which supporting structure (23) there is arranged, in the region of the central axis (Z), a kirving tool (25) with at least one transverse kirving roller (13) for working a substrate on which the ground-working machine is standing, which kirving roller (13) has on its roller circumference kirving chisels (15) oriented toward the direction of rotation of the kirving roller and, for kirving, can be rotated by a drive in the direction of rotation about its roller axis (V), the roller axis (V) being pivotable about a steering axis (W), which steering axis (W) is arranged in the direction of extension of the central axis (Z) set apart from the advancement members (21) in a spacing, which spacing corresponds to at least half the width of the kirving roller (13) and the kirving roller (13) can be driven in any rotational position with respect to the steering axis (W) characterized in that the steering axis (W) intersects the roller axis (V) or is arranged at a spacing from the roller axis (V) corresponding to at most 3/5 of the width of the ground-working machine.
2. Machine according to Claim 1, characterised in that the kirving tool (25) is arranged on the supporting structure (23) in such a way that the kirving roller (23) can be arranged above the positioning plane such that its roller circumference touches the positioning plane, and in that the steering axis (W) deviates, in this position of the kirving roller, by 0 to at most 45 degrees from a vertical line relative to the positioning plane.
3. Machine according to Claim 2, characterised in that the deviation of the steering axis (W) from the vertical line relative to the positioning plane is at most 30 degrees.
4. Machine according to any one of Claims 1 to 3, characterised in that the kirving tool (25) comprises at least two kirving rollers (13), the roller axes (V) of which are adjustable relative to one another each about their own steering axis (W), that is to say, about two steering axes (W) set apart from each other.
5. Machine according to any one of Claims 1 to 4, characterised in that the kirving tool (25) comprises a frame part (35) which is pivotable in relation to the supporting structure (23).
6. Machine according to Claim 5, characterised in that frame part (35) is pivotable in relation to the supporting structure (23) about an axis (R) basically parallel to the central axis (Z).
7. Machine according to Claim 5 or 6, characterised in that the frame part (35) is pivotable in relation to the supporting structure about a substantially horizontal axis (U) lying perpendicularly to the central axis (Z).
8. Machine according to any one of Claims 5 to 7, characterised in that the frame part (35) is pivotable in relation to the supporting structure (23) about a substantially vertical axis (S) lying perpendicularly to the central axis (Z), and in that the steering axis (W) is formed between the frame part (35) and each kirving roller (13) or between the frame part (35) and the kirving rollers (13).
9. Machine according to any one of the preceding claims, characterised by crawlers (31) as advancement members (21).
10. Machine according to any one of the preceding claims, characterised by progressing units (61) as advancement members (21).
11. Machine according to any one of the preceding claims, characterised by wheels (41) as advancement members (21).
12. Machine according to any one of the preceding claims, characterised by kirving tools (13) as advancement members (21).
13. Machine according to any one of the preceding claims, characterised in that the advancement members (21) are embodied so as to be height-adjustable in relation to the supporting structure (23).
14. Machine according to any one of the preceding claims, characterised in that a grader (37) is present said grader in particular arranged between the kirving tool (25) and the advancement members (21).
15. Machine according to any one of the preceding claims, characterised by a control unit for the computer-supported, coordinated activation of the individual kirving tools (25) and advancement members (21) in particular equipped with a navigation system for the scheduled activation of the control unit, so that the ground-working machine (11) can follow a given, three-dimensionally fixed path.

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