Agricultural equipment

Abstract

The present invention relates to an agricultural implement (10), in particular for soil-free cultivation of a soil surface (22), comprising a implement frame (12) and at least one tool unit (14) connected to the implement frame (12), wherein the tool unit (14) has at least one tool (16) rotatably mounted about a pivot axis (18), and wherein the tool (16) has a working surface (20) for contacting the soil surface (22). According to the invention, in a working position, the tool (16) is in contact with the soil surface (22) in a contact area (24) with its working surface (20) and is arranged and designed such that in the contact area (24) the working surface (20) exhibits a rubbing and / or, in particular, slipping, rolling relative movement to the soil surface (22).

Description

[0001] The present invention relates to an agricultural implement and a method for the cultivation of a soil surface, in particular without soil disturbance.

[0002] A wide variety of agricultural implements are used for soil cultivation. These implements are typically mounted or trailed on an agricultural tractor and pulled across the field. For soil or soil surface cultivation, such as non-inversion crop management, numerous tools are used individually or in combination, including loosening tools, cutting tools, and / or soil compaction tools like rollers. A commonly used tool is the cutting roller, which has numerous cutting edges around its circumference for shredding plants or plant residues.

[0003] An agricultural soil cultivation implement for uprooting and shredding plants and plant parts is known, for example, from DE 20 2019 004 580 U1. The implement comprises, arranged successively on a carrier in the direction of cultivation, knife rollers, shallow cultivators for non-inversion soil cultivation, and rotatable saber discs for removing roots from the ground and for shredding the roots and the plants and plant parts cut by the knife rollers, as well as a pipe roller.

[0004] An agricultural soil cultivation implement known from DE 20 2017 101 979 U1 has two cutting rollers arranged at a distance from one another, which are rotatably mounted on a support frame transverse to a direction of movement of the soil cultivation implement and have helical cutting blades, wherein the cutting rollers arranged next to each other have different directions of rotation of the cutting blades.

[0005] A disadvantage of these systems is that the limited number of cutting blades results in only irregular soil surface cultivation. This leads to insufficient regulation, especially with small and young plants. Furthermore, the pressure required to achieve a cutting effect causes significant soil disturbance, resulting in soil or surface movement. Uprooting or very shallow cutting of plants, for example with a shallow cultivator, leads to even greater soil disturbance.

[0006] It is therefore the object of the present invention to provide an agricultural implement and a method which enables reliable regulation of plants and also exhibits reduced soil movement.

[0007] The problem is solved by an agricultural implement according to the features of claim 1, and by a method according to the invention according to claim 14. Advantageous embodiments of the invention are specified in the dependent claims.

[0008] The invention relates to an agricultural implement, in particular for soil-free cultivation of a soil surface, comprising a frame and at least one tool unit connected to the frame, wherein the tool unit has at least one tool rotatably mounted about an axis of rotation, and the tool has a working surface for contacting the soil surface. According to the invention, in a working position, the tool is in contact with the soil surface in a contact area and is arranged and designed such that the working surface exhibits a rubbing and / or, in particular, slipping, rolling relative movement to the soil surface in the contact area.

[0009] The implement can be mounted or attached to a towing vehicle and moved by it in a working direction. For this purpose, the implement can have one or more mounting points on its frame for attachment to the towing vehicle, thus enabling operation as a pushed and / or pulled implement, also in combination with other implements. The implement has at least one tool unit for working a soil surface, which can be arranged on the frame. The tool unit has at least one tool for working the soil surface, particularly without soil penetration, and the tool can be rotatably mounted about an axis of rotation. Several tools of a tool unit can be arranged in such a way that they form a cylindrical tool, particularly with one or more axes of rotation.A number of tools and / or tool units can be arranged in such a way that, viewed in the direction of work, they can essentially work the ground surface across the entire working width of the implement.

[0010] A tool rotating about its axis of rotation can rotate in a plane of rotation, which can be arranged essentially perpendicular to the axis of rotation. A plane of rotation can be arranged essentially perpendicular to the ground surface or inclined at an angle to the ground surface. Furthermore, a plane of rotation can be arranged in a horizontal plane at a swivel angle to the working direction. The swivel and / or tilt angles of several tools can point in the same or opposite directions and, in particular, be selected such that any lateral forces acting on the machine frame from the tools can compensate for each other.

[0011] The implement can be moved into a transport position, for example for road transport, and a working position for cultivating the soil surface. In the working position, the working surface of the tool can be at least partially in contact with the soil surface. Within this contact area, a rubbing and / or, in particular, slipping, rolling relative movement can occur between the tool or the working surface of the rotating tool and the soil surface. During this rubbing and / or, in particular, slipping relative movement, the working surface and the soil surface are in frictional contact within the contact area. The relative velocity of the working surface relative to the soil surface, generated by the slippage and / or lateral movement of the tool, can cause plants to rub against the tool and thus exert a force on the plants.This effect can cause the plants on the soil surface to be squeezed, crushed, compressed and / or stretched, thus causing them to die and enabling effective, soil-intrusion-free and / or cutting-free cultivation of the soil surface.

[0012] This allows plants to be regulated regardless of their size, growth stage and / or homogeneity of the vegetation, especially essentially across the entire working width of the implement, without a tool penetrating the soil or the soil being tilled or moved.

[0013] In a preferred embodiment, the tool unit is pivotably connected to the device frame about a pivot axis, wherein in particular the tool unit comprises a tool-carrying tool frame which is pivotably arranged on the device frame.

[0014] A tool unit can comprise one or more tools. The tool unit can be cylindrical, with several tools arranged adjacent to one another. The tool unit can be pivotally mounted on the machine frame about a pivot axis. The pivot angle can be a substantially horizontal angle by which the tool unit, in particular a plane of rotation of at least one tool, can be pivoted relative to the working direction. The pivot angle can correspond to a slip angle. The machine can have several tool units, which can be pivotally mounted on the machine frame together and / or individually. The pivot axis can be arranged substantially vertically. Furthermore, a pivot axis can be inclined relative to a vertical, for example, to a ground surface.A tilted pivot axis can be inclined forwards or backwards in the working direction. This allows a pivotable tool unit to be designed to be pushed or pulled relative to the working direction. A tool unit can be locked in a pivoted position and / or the pivot angle can be continuously adjustable. A tool unit can pivot to a first side (e.g., left) and / or to an opposite second side (e.g., right) in the working direction. In this case, at least one tool unit can pivot in such a way as to compensate for lateral forces occurring in the working position.

[0015] In a particularly preferred embodiment, a pivot axis of a tool unit is arranged such that, in the working position, it passes through a contact area of ​​the working surface of a tool and / or through the centroid of several contact areas of several tools. A centroid of several contact areas can be determined for each tool unit. Because the pivot axis is arranged such that it passes through the contact area or a centroid of several contact areas of a tool unit, lateral movement or pivoting of the contact area can be avoided when the tool unit is pivoted. This enables pivot-angle-independent, essentially planar and continuous, processing of the soil surface across the working width of the implement, even with pivotable tool units.

[0016] Preferably, the tool is arranged at an angle to the vertical in its working position, particularly at a tilt angle. A tool can be arranged at a tilt angle independently of a swivel angle. This allows the tool, in addition to the swivel angle, to have an undercut or trailing angle, the tilt angle, when viewed in the working direction. This intensifies the processing of the soil surface.

[0017] In a preferred embodiment, at least two tool units form a tool group. The tool units of a tool group can be pivoted together. The tool units of the tool group can be mechanically coupled, for example, via a linkage. The tool units of a tool group can be pivoted in the same or opposite directions. With opposite pivoting, lateral forces occurring in the working position can be compensated. The tool groups simplify the adjustment, in particular the pivoting, of the tool units, whereby the compensation of lateral forces can occur essentially automatically.

[0018] In a further preferred embodiment, the axes of rotation of two or more tools, in particular a tool unit or tool group, are arranged coaxially or offset from one another in the working direction and / or along a tool frame. The axes of rotation and / or planes of rotation of the tools can be arranged parallel or at an angle to one another, for example, in the case of two tools on a tool unit. The axes of rotation can be arranged substantially horizontally, in particular parallel to the soil surface, or at an angle to the soil surface. Axes of rotation can also be arranged offset from one another or non-parallel, in particular intersecting each other. This allows, for example, two or more tools of a tool unit to be arranged in a space-saving manner and with virtually no lateral pull. This can be advantageous, for example, for cultivating the soil surface between rows of crops.

[0019] Preferably, at least one pre-tensioning device is provided, by which at least one tool can be subjected to a pre-tensioning force, in particular directed towards the soil surface. A tool can be pressed against the soil surface with this pre-tensioning force, which is particularly adjustable, thereby generating a sufficiently large force to regulate the growth of plants on the soil surface. The pre-tensioning device can be arranged on the tool, the tool unit or tool group, and / or the machine frame. To generate the pre-tensioning force, the pre-tensioning device can comprise a spring element, a hydraulic and / or pneumatic cylinder, a fluid accumulator, and / or an electric adjustment unit.

[0020] Particularly preferably, the tool is essentially rotationally symmetrical and rotatable about the axis of rotation, and has a working surface, in particular a profiled one, for soil cultivation. The working surface can be in the form of one or more surfaces. The working surface can be in the form of a closed and / or at least partially perforated surface. The working surface can have a profile, at least partially, in particular radially on the outer side. This can improve the cultivation of the soil surface. A tool can, for example, be in the form of a wheel or tire, and in particular be made of metal and / or rubber. In the case of a tool in the form of a wheel or tire, the contact area can correspond to the contact surface of the wheel or tire. In the case of an air-filled tool, the contact area can be...The contact area can be adjusted by means of an adjustable air pressure, for example, via a tire pressure control system. The rotationally symmetrical and / or rotatable design of the tool allows for a rolling relative movement between the tool and the ground surface, thus preventing clogging of the tool.

[0021] In a preferred embodiment, at least one actuator is provided for pivoting at least one tool, tool unit, and / or tool group. An actuator can be in the form of an electrically adjustable actuator, a hydraulic, and / or pneumatic cylinder. The actuator can pivot multiple tools, tool units, and / or tool groups, with a pivoting action that is essentially free of lateral pull, which can be achieved by appropriately coupling the tools, tool units, and / or tool groups.

[0022] Preferably, at least one drive unit is provided for driving at least one tool. Driving a tool is understood to mean a driven active or braked passive rotation of the tool around its axis of rotation. In this case, a tool in its working position, in contact with the ground, rotates faster or slower than it would if it were rolling along the ground surface without drive, corresponding to a driving speed. The drive unit, for example in the form of a mechanical, electric, and / or hydraulic drive motor, enables relative movement between the tool, in particular its working surface, and the ground surface being worked.

[0023] In a preferred embodiment, at least one tool, particularly relative to an adjacent tool and / or the ground surface, is designed to be raised and / or lowered. In this configuration, at least one tool, particularly in the form of a wheel or tire, can remain in contact with the ground surface, while the remaining tools are arranged without ground contact. This can be done in a transport position and / or a working position. This can, for example, improve the maneuverability of the towing vehicle with the implement when turning at the headland and / or, particularly in a transport position, support at least part of the implement's weight.

[0024] Preferably, the equipment frame is designed in multiple parts, and in particular is foldable. One or more tools, tool units, and / or tool groups can be arranged on each sub-frame. This has the advantage that, especially in the transport position, a permissible overall width of the work equipment can be maintained.

[0025] Particularly preferably, at least one additional tool, especially a roller-shaped one, is provided, which, viewed in the working direction, can be positioned upstream or downstream of the main tool. The at least one additional tool can be mounted on the implement frame and / or a tool unit. An additional tool can be designed in the form of a roller with at least one row of tools. The additional tool can be designed such that, in its working position, it performs either penetrating soil cultivation or non-penetrating cultivation of the soil surface. The additional tool can, for example, be designed in the form of a crushing roller and / or a non-cutting roller. This can improve the working result of the implement.

[0026] Furthermore, a method is preferably provided for an agricultural implement, in particular according to claim 1, with at least one tool rotatable about an axis of rotation and having a working surface for soil-free cultivation of a soil surface. According to the invention, the tool is brought into a working position with its working surface in a contact area with the soil surface, wherein in the contact area the working surface performs a rubbing and / or, in particular, slipping, rolling relative movement to the soil surface.

[0027] In the working position of the implement, the working surface of a tool can be brought into at least partial contact with the soil surface in a contact zone. Within this contact zone, a rubbing and / or, in particular, slipping, rolling relative motion can be generated between the tool or the working surface of the rotating tool and the soil surface. During this rubbing and / or, in particular, slipping relative motion, the working surface and the soil surface are in frictional contact within the contact zone. The relative velocity of the working surface relative to the soil surface, generated by the slippage and / or lateral movement of the tool, can cause the plants to rub against the tool and thus exert a force on the plants.This effect can cause the plants on the soil surface to be squeezed, crushed, compressed, and / or stretched, thus leading to their death and enabling effective, soil-inhibiting, and / or cutting-free cultivation of the soil surface. This allows plants, regardless of their size, growth stage, and / or the homogeneity of the vegetation, to be controlled, particularly across the entire working width of the implement, without a tool penetrating the soil or disturbing or tilling the soil.

[0028] Preferably, the tool, which is rotatable about the axis of rotation, rotates in a plane of rotation, and the plane of rotation is pivoted relative to a working direction of the tool by a swivel angle, and / or the tool is driven or decelerated such that relative movement to the ground surface is generated. By pivoting the tool and / or the plane of rotation of the tool relative to the working direction, a lateral runout angle can be set, which can further increase the effectiveness of the tool. By driving and / or decelerating the rotation of a tool, particularly relative to a purely passive rolling motion corresponding to a working speed, about its axis of rotation, a relative movement between the tool and the ground surface can be set independently of the swivel angle and / or tilt angle, thus allowing an optimal relative movement between the tool and the ground surface to be set at any time for machining.

[0029] Further details of the invention can be found in the figures and the description of the figures, which show a preferred embodiment of the invention.

[0030] They show: Fig. 1: A perspective view of an agricultural implement with tool-carrying tool units arranged in tool groups on an implement frame; Fig. 2: a top view of the in Fig. 1 shown work device with swiveled tool units; Fig. 3: a side view of a tool unit with a pre-tensioning device; Fig. 4: a top view of the Fig. 3 tool unit shown; Fig. 5: a schematic top view of tool groups arranged in an X configuration; Fig. 6: a top view of tools arranged in pairs on a tool unit; Fig. 7: a schematic top view of a tool unit with roller-shaped tools; Fig. 8: a schematic top view of pivoted tool units with tools arranged in pairs; and Fig. 9: A schematic top view of swiveled tool units.

[0031] In Fig. Figure 1 shows an agricultural implement 10 for soil-free cultivation of a soil surface 22 with a implement frame 12 in a working position. The implement frame 12 has two mounting areas 28 for connecting the implement 10 to a towing vehicle (not shown). A plurality of tool units 14 are arranged on the implement frame 12, with the tool units 14 arranged in two consecutive rows transverse to the working direction A when viewed in the working direction A. Each tool unit 14 has a tool 16, which is rotatably mounted about a pivot axis 18. The tool unit 14 has a tool frame 32 on which the at least one tool 16 is arranged. A tool 16 rotates in a plane of rotation 26, which can be arranged perpendicular to the soil surface 22 (not shown).The plane of rotation 26 can also be inclined relative to the vertical by a tilt angle β (not shown). The depicted plane of rotation 26 is essentially perpendicular to the ground surface 22, so that the tilt angle β is zero. However, for better understanding, the tilt angle β is indicated in the figures. In addition, the plane of rotation 26 can be pivoted in a horizontal plane by a swivel angle α relative to the working direction A, particularly in addition to a tilt angle β. The tools 18 are rotationally symmetrical and designed in the form of wheels or tires. Each tool 18 has a circumferential working surface 20 for contacting and processing the ground surface 22. The working surface 20 is profiled.

[0032] According to the invention, the tools 18, in their working position, are each in contact with the floor surface 22 in a contact area 24 with their working surfaces 20 and are arranged and designed such that the working surface 20 exhibits a rubbing and / or, in particular, slipping, rolling relative movement to the floor surface 22 in the contact area 24. For this purpose, the tools 18 or the tool units 14 are arranged on the device frame 12 pivoted about their pivot axes 30 by a pivot angle α relative to the working direction A. The tool units 14 are pivoted, in particular in equal numbers, to both sides of the working direction A in order to compensate for the resulting lateral forces.

[0033] The tool units 14 ( Fig. 2) are pivotably arranged on the device frame 12 about pivot axes 30. Several tool units 14 are coupled via connecting elements 44, for example in the form of a linkage, thereby grouping them into a tool group 34 and enabling them to perform a common pivoting movement. Several tool groups 34 and / or at least one actuator 38 can be connected to each other for pivoting via the coupling elements 44. Different tool groups 34 can be pivoted in opposite directions, in particular by a single actuator, whereby the respective pivot angle α can be the same. This allows lateral forces to be compensated, especially within a series of tools 18.

[0034] Tools 18, tool rows 14 and / or tool groups 34, which are arranged side by side in a row in the working direction A, can each have an actuator 38 for pivoting. The tools 18 can be arranged in successive rows offset in such a way that, over a working width of the implement 10, essentially continuous, area-wide processing of the soil surface is made possible.

[0035] In the Fig. Figure 3 shows a side view of a tool unit 14, where the tool 16 is depicted in the form of a tire in its working position. The working surface 20 of the tool 16 is in contact with the soil surface 22 in the contact area 24. During forward movement of the implement 10 in the working direction A, a rubbing, slipping relative movement occurs between the tool 16 and the soil surface 22, particularly due to pivoting. This can cause the plants on the soil surface to be pressed, crushed, compressed, and / or stretched, thus killing them. In contrast to bladed tools, this allows for soil-free and / or cutting-free cultivation of the soil surface 22.

[0036] The swivel axis 30 ( Fig. 4) The tool unit 14 is arranged such that it passes through the contact area 24. This has the advantage that when the tool unit 14 is pivoted, the contact area 24 experiences essentially no lateral displacement, thus enabling surface machining of the floor surface 22 regardless of the pivot angle. The tool unit 14 has a preloading device 36 by means of which the tool 16 can be subjected to a preload force with which the tool 16 acts on the floor surface 22. The preloading device 36 has a spring that acts between the tool frame 32 and a tool-carrying arm.

[0037] As in Fig. As shown in a schematic top view in Figure 5, several tools 16 can be arranged together to form a cylindrical tool unit 14. The axes of rotation 18 of the tools 16 of a cylindrical tool unit 14 are arranged coaxially. However, it is also conceivable that the axes of rotation 18 can be arranged parallel and spaced apart from each other. The tool units 14 have two different sizes, with the larger tool unit 14 pivoted to the right in the working direction A, and the two other, smaller tool units 14 each pivoted to the left. The tool units 14 are arranged in a so-called X-arrangement. The sizes, i.e., the number of tools 16, of the tool units 14 are selected such that the lateral forces that occur in a pivoted state compensate each other.

[0038] In Fig. Figure 6 shows a top view of two tool units 14 for intermediate row machining. The tool units 14, which can be pivoted about their pivot axes 30, each have two tools 16 arranged with intersecting axes of rotation 18. The tools 16 are pivoted in opposite directions relative to the working direction A on the tool frame 32 to compensate for lateral forces. Furthermore, the tools 16 are offset from each other in the working direction A, which reduces the required width for this arrangement for intermediate row machining perpendicular to the working direction A.

[0039] The tools 16 ( Fig. 7) can be set into rotation about their axis of rotation 18 or braked by means of a drive unit 40. The drive unit 40 of a tool unit 14, in particular a roller-shaped one, can be arranged on the axis of rotation 18 on which the tools 16 are arranged. The tools 16 are designed in the form of tires, with a scraper 42 provided between each adjacent tool 16 for removing unwanted material. The drive unit 40 can cause the tools 16 to rotate faster than the speed at which the working device 10 is moved in the working direction A, or it can decelerate them so that the tools 16 move more slowly. In both cases, a desired relative movement between the tool 16 and the ground surface 22 can be set.

[0040] In Fig. Figure 8 shows two tool units 14, each pivoted by the same angle α and in opposite directions. Each tool unit 14 has two tools 16 rotatable about a common axis of rotation 18, which are arranged on the respective tool frames 32. The tool frames 32 of the tool units 14 are pivotally mounted on the device frame 12 in pivot axes 30 and extend beyond the tool frame 12 to a side of the device frame 12 facing away from the tools 16. There, the tool frames 32 are connected by an actuator 38 such that a change in the length of the actuator 38 can cause an equal and opposite pivoting of the tool units 14 without lateral force.

[0041] In Fig. 9 is a variation of the one in Fig. The arrangement of tool units 14 shown in section 8 is illustrated. In the case of the Fig.In the eight tool units 14 shown, a section between them cannot be machined. Therefore, one of the tool units 14 has two additional tools 16 arranged in pairs, with the tools 16 arranged in pairs on either side of the machine frame 12. This allows the floor surface to be machined essentially without interruption transversely to the working direction A. The tool frames 32 of the pivoted tool units 14 are also coupled via an actuator 38, which enables the tool units 14 to pivot in the same amount in opposite directions. Reference sign 10 Work equipment 12 device frames 14 tool unit 16 tools 18 Rotation axis 20 work surface 22 Soil surface 24 contact area 26. Plane of rotation 28 Cultivation area 30 Swivel axis 32 tool frames 34 Tool group 36 Pre-tensioning device 38 Actuator 40 drive unit 42 wipers 44 Connecting element A working direction α Swivel angle α β Angle of inclination β QUOTES INCLUDED IN THE DESCRIPTION

[0000] This list of documents cited by the applicant was automatically generated and is included solely for the reader's convenience. The list is not part of the German patent or utility model application. The DPMA accepts no liability for any errors or omissions. Cited patent literature

[0000] DE 20 2019 004 580 U1

[0003] DE 20 2017 101 979 U1

[0004]

Claims

[1] Agricultural implement, in particular for soil-free cultivation of a soil surface (22), comprising a implement frame (12) and at least one tool unit (14) which is connected to the implement frame (12), wherein the tool unit (14) has at least one tool (16) rotatably mounted about an axis of rotation (18), wherein the tool (16) has a working surface (20) for contacting the soil surface (22), characterized by , that the tool (16) in a working position is in contact with the ground surface (22) in a contact area (24) with its working surface (20) and is arranged and designed such that in the contact area (24) the working surface (20) has a rubbing and / or in particular slipping, rolling relative movement to the ground surface (22). [2] Working tool according to claim 1, characterized bythat the tool unit (14) is pivotably connected to the device frame (12) about a pivot axis (30), wherein in particular the tool unit (14) comprises a tool-carrying tool frame (32) which is pivotably arranged on the device frame (12). [3] Working equipment according to claim 1 or 2, characterized by , that a pivot axis (30) of a tool unit (14) is arranged such that in the working position it passes through a contact area (24) of the working surface (20) of a tool (16) and / or through a center of gravity of several contact areas (24) of several tools (16). [4] Working equipment according to any of the preceding claims, characterized by , that the tool (16) is arranged at an angle to a vertical in the working position, in particular by an angle of inclination (β). [5] Working equipment according to any of the preceding claims, characterized by, that at least two tool units (14) form a tool group (34). [6] Working equipment according to any of the preceding claims, characterized by that the axes of rotation (18) of two or more tools (16), in particular a tool unit (14) or tool group (34), are arranged coaxially or offset from each other in the working direction (A) and / or along a tool frame (32). [7] Working equipment according to any of the preceding claims, characterized by , that at least one pre-tensioning device (36) is provided by which at least one tool (16) can be subjected to a pre-tensioning force, in particular directed towards the ground surface (22). [8] Working equipment according to any of the preceding claims, characterized by , that the tool (16) is essentially rotationally symmetrical and rotatable about the axis of rotation (18), and has a working surface (20), in particular a profiled one, for soil cultivation. [9] Working equipment according to any of the preceding claims, characterized by , that at least one actuator (38) is provided for pivoting at least one tool (16), one tool unit (14) and / or one tool group (34). [10] Working tool according to any one of the preceding claims, characterized by , that at least one drive unit (40) is provided for driving at least one tool (16). [11] Working equipment according to any of the preceding claims, characterized by , that at least one tool (16) is designed to be liftable and / or lowerable, in particular relative to a neighboring tool (16) and / or the ground surface (22). [12] Working equipment according to any one of the preceding claims, characterized by , that the device frame (12) is designed to be multi-part, and in particular foldable. [13] Working equipment according to any one of the preceding claims, characterized by, that at least one additional tool, in particular a roller-shaped one, is provided which, viewed in the working direction (A), may be positioned upstream or downstream of the tool (16). [14] Method for an agricultural implement (10) with at least one tool (16) rotatable about an axis of rotation (18) and having a working surface (20) for soil-free cultivation of a soil surface (22), characterized by , that the tool (16) in a working position (A) is brought into contact with the ground surface (22) in a contact area (24) with its working surface (20), and that in the contact area (24) the working surface (20) performs a rubbing and / or in particular slipping, rolling relative movement to the ground surface (22). [15] Method according to claim 14, characterized by, that the tool (16) which is rotatable about the axis of rotation (18) rotates in a plane of rotation (26) and the plane of rotation (26) is pivoted relative to a working direction (A) of the working device (10) by a swivel angle (α) and / or the tool (16) is driven or decelerated in such a way that relative movement to the ground surface (22) is generated.

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