JPH0823772A - Device for plant grafting - Google Patents

Abstract

PURPOSE:To provide an automated plant grafting device that feeds scions and rootstocks continuously, cuts them at appropriate positions and graft them to give grafted seedlings. CONSTITUTION:On both sides of a conveyer for sending out the grafted seedlings 2 set on the holder 1, a scion holder 3A having a couple of arms which is supported so that they can turn by 180 deg. and a rootstock holder 3B are arranged oppositely thereto, while both the ends of the arms 32A and 32B are provided with a scion-holding part and a rootstock-holding part, respectively. Further, cutters 4A and 4B which may cut scion and rootstock obliquely, respectively are set on the front side of both the holding parts, and a graft conjugation device and a device for feeding binding implements to the graft conjugation device are provided above both these holding devices. Further, the working bed equipped with a safety device comprising a light area sensor is arranged in front of both the holding devices.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a grafting device for automatically joining saplings, in which seedlings to be a rootstock and a scion are continuously supplied to opposing gripping devices, and the saplings are gripped by the gripping devices. After cutting the seedling seedlings and the scion seedlings into a proper cross-sectional shape by a cutting device that moves, after moving the gripping devices to the respective joints, and appropriately joining the cut surfaces of the two, The present invention relates to an automatic grafting device capable of continuously obtaining grafted seedlings whose joints are sandwiched and fixed by a unique coupler.

[0002]

2. Description of the Related Art The present inventors have continued to produce grafted seedlings for many years, but most of them were to manually cut and join seedlings to be rootstocks and spikes. In recent years, research has been conducted on the production of grafted seedlings, and mechanization of grafting has been carried out from manual work to connecting work using a machine. As one example thereof, there is one as seen in JP-A-2-107125, however, in this invention, seedlings cannot be continuously supplied, and JP-A-3-61429 and JP-A-2-107
Seen in No. 125 etc., seedlings can be continuously supplied, but since the cutting arm is used to cut the seedlings, there is a problem in the cut surface, and as a fixing means. Since a spring clip having the shape of a clothespin is used, various inconveniences occur and it is not satisfactory.

[0003]

The production of grafts by hand requires a large number of skilled workers, but in recent years it has become difficult to secure human resources, personnel costs have risen, and workers are aging. Is brought. Therefore, the present inventor is an apparatus for continuously producing rootstock seedlings and scion seedlings to produce grafted seedlings that can be cut and joined. By using a grafting and seedling production device having a joining device capable of reliably joining the joints with a joining device and a joining device supplying device that continuously and reliably feeds the joining device to the joining portion, anyone can efficiently perform a simple operation. Japanese Patent Application No. 5-349784 has been previously proposed for the purpose of continuously producing grafted seedlings of good quality. However, the present invention provides two turntables for a rootstock and a scion facing each other so as to rotate synchronously on a pedestal, and a seedling holding device is provided on the turntable, and the processing facing the turntable is performed. It is equipped with a cutting device and a joining device at the position, and the cutting blade of the cutting device pushes and cuts diagonally up and down, the mechanism is complicated and the cutting surface of the seedling is finished. I was not satisfied.

[0004]

Instead of using a conventional turntable mechanism provided with a gripping device, a rootstock and a scion which can be swung at opposed positions with a belt conveyor for transferring grafted seedlings interposed therebetween. The gripping device for each is erected on the pedestal, and the cutting blade of the cutting device that cuts the seedlings held in the seedling gripping part of the gripping device is provided so that it can be cut obliquely to simplify the mechanism and cut the cutting surface. Try to finish it clean and increase the bonding efficiency.

[0005]

As shown in FIGS. 1 and 2, the invention of the present application is such that a transfer device (2) for discharging grafts provided on a pedestal (1) is sandwiched so as to face each other with an appropriate interval. The two gripping devices (3A) and (3B) for the scion and the rootstock are provided on the shaft, and the gripping devices for the scion and the rootstock can be rotated 180 degrees on the support shafts (31A) and (31B), respectively. The T-shaped arms (32A) (32B) supported are provided with gripping parts (33A) (33B) at both ends, and a cutting blade is attached to the seedlings gripped by the gripping parts. Cutting devices (4A) (4B) for cutting the seedlings by moving them so as to be vertically slanted are provided on the front side portions of both gripping devices (3A) (3B) on the pedestal (1). Support ears for rootstock and scion cut by the cutting blades (41A) and (41B), respectively. (32A) and (32B) to pivot said transfer device (2) on, after joining the both cut surfaces,
Joining device (5
A) (5B) is used to bind the seedlings, and the grafted seedlings are discharged onto the belt conveyor of the transfer device so that the seedlings can be grafted automatically. Among them, the invention of the present application has the greatest features in the gripping device of the scion and the rootstock, the method of gripping the scion and the rootstock, and the method of cutting the gripped scion and rootstock, and has the following structure and action. are doing.

One of the gripping devices, a scion gripping device (3
A specific example of (A) is a gripping portion as shown in FIGS. 3 and 4 at both ends of an arm (32A) provided in a T shape on a pivotal support shaft (31A) shown in FIG. (33A) is provided. That is, a flat plate-shaped arm (32A)
The central part of the tip is cut out in a concave shape, and a column-shaped strut (36A) is provided on the both convex end portions (35A), and a scion positioning plate (37A) is provided on the strut surface. It constitutes a receiving plate portion of the gripping portion (33A), and further, a pressing claw (38A) is pressed against the positioning plate (37A) to a side portion of the arm (32A) near the support shaft (31A). A pressing operation cylinder (39A) for gripping a tree is provided to form a gripping portion (33A) above the scion, and the arm (3
2A) has a concave notch (34A), which is fixed to a pedestal below the arm, and a grip claw (30A) that moves up and down according to the supply and gripping motions of the scoop can grip the lower part of the scion. The scion gripping portion (33A) of the present invention is provided in the.

The scion gripping portion (33A) thus constructed is
The upper part of the bush is pressed by the claw (38A) and the operating cylinder (39A).
When the lower part of the scion is set between the gripping claws (30A) opened by the operating cylinder (30) by being pressed against the positioning plate (37A) which is opened by A) and stands by, the pedal (P) is stepped on. The operating cylinder (39A) works to press the pressing claw (38A) against the positioning plate (37A) by the action of the link, and the gripping claw (30A) is closed to grip the upper and lower parts of the scion. Hotoki seedlings are ready to be cut.

The root gripping device (3
As a specific example of B), a gripping portion as shown in FIGS. 5 and 6 is provided at both ends of an arm (32B) provided in a T shape on a pivotal support shaft (31B) shown in FIG. (33B) is provided. That is, the arm (32B) on the flat plate
A handle (34B) for opening and closing with a working cylinder (35B) to hold the lower part of the stock is provided at the tip of the handle, and a cylinder (37B) supported by a pedestal-like column (38B) is provided above the handle. The root gripping portion (33B) of the present invention is configured by providing gripping claws (36B) that move forward and backward and open and close to grip the upper part of the rootstock.

In the root gripping portion (33B) thus constructed, the lower part of the root stock seedling is pressed against the grip (34B) which opens the palm and stands by by the operating cylinder (35B) of the lower gripping portion of the root stock. When the upper part of the tree is set above the handle (34B) and set between the gripping claws (36B) whose claws are opened by the operating cylinder (37B), and the pedal (P) is stepped on, both operations are performed simultaneously. The cylinder operates to close the grip (34B) and the grip claw (36B),
The lower part and the upper part of the rootstock are grasped at the same time, and the rootstock seedling is ready to be cut.

In addition, on the front side of the above-mentioned scion gripping device (3A) and rootstock gripping device (3B), the scion seedlings (A) or rootstock seedlings (B) are interlocked with the respective gripping devices. Cutting devices (4A) and (4B) for cutting are provided. now,
When the scion gripping part (33A) operates in a series of steps and becomes ready to cut the scion seedling, the cylinder (42A) of the scion cutting device (4A) operates in conjunction with the gripping operation to move up and down. When the cutting blade (41A) is diagonally moved from the lower side to the upper side with respect to the middle portion of the gripping position of the scion seedling gripped by, the gripping nail grips the lower half of the scion seedling. The cylinder (30) of (30A) retracts downward,
When the grasping claw (30A) is opened and the cut root is released downward, the arm (32A) grasping the upper half of the scion seedling starts reversing movement. When the scion gripping arm (32A) is inverted, the scooping device (4A) is stopped when the scion gripping part (33A) on the joining position side stops at the scion seedling gripping position.
When the cylinder (42A) of (A) retracts and the cutting blade retreats, the gripping claw (30A) starts rising from below, and the concave notch (34A) at the tip of the arm (32A) starts with the claw open. ), The side of the spike holding part returns to the initial seedling holding state.

Similarly, on the other side of the rootstock working side, when the rootstock gripping portion (33B) operates and the rootstock seedling (B) is ready to be cut, the rootstock interlocks with the gripping operation. Cutting device (4
The cylinder (42B) of B) is operated to cut the cutting blade (41) with respect to the middle part of the gripping position of the rootstock seedlings gripped up and down.
B) is obliquely moved from the upper side to the lower side and cut so as to be cut off.
The cylinder (37B) of 6B) retreats, the grasping claw is opened, and the cut leaf is discharged downward. In accordance with this, the arm (32B) that grips the lower half of the rootstock seedling starts reversing movement, the rootstock gripping arm (32B) is reversed, and the rootstock gripping portion (33B) on the joining side is moved. When the cylinder (42B) of the cutting device (4B) is retracted and the cutting blade (41B) is retracted to stop at the rootstock seedling holding position, the cylinder (37B) is extended from the side,
Grip claw (34B) at the tip of the arm (32B) with the grip claw (36B) provided at the tip of the cylinder open
Stops at the upper part of the plant and the root gripper side also returns to the initial seedling gripping posture.

[0012] In this way, the respective gripping parts (33A) which grip the cut scion (A) and cut root (B).
When (33B) is reversed and faces the joining position above the belt conveyor and stops, the pressing cylinder provided in the root gripping portion operates to make the cut surface of the root contact the cut surface of the scion. It is kept pressed. Then, the cylinders of the coupling devices (5A) and (5B) supported above the gripping devices (3A) and (3B) are activated accordingly, and the bindings located above the spike and root gripping parts are activated. After each of the binding components sent from the component supply chutes (71A) (71B) is sucked onto the tip suction portion of the coupling device,
Further, the cylinder is extended to sandwich the joint between the scion and the rootstock and press the binding component to bind the graft. When the binding is completed, the cylinders of both coupling devices retract and return to the original position in conjunction with the opening of the grips of the scion and rootstock. It is opened to the outside and is carried out of the apparatus, and the grafting operation ends one process.

[0013]

An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is an overall side view showing the outline of the present invention. In the present invention, the scion grasping device is provided on both sides of a belt conveyor (2) for carrying out grafted seedlings on a stand (1) so as to face each other. 3A) and the root gripping device (3
B) is provided, work tables (6A) and (6B) and work safety switches are provided on the front surfaces of both gripping devices, and a binding tool for joining a graft is provided above both gripping devices. Feeder (Parts Fader) (7A)
(7B) is provided, and a pedal (P) of a foot switch that causes the grasping device to grasp the seedlings is provided below the pedestal (1).
Is provided.

In the above-mentioned structure, both of the spike holding device (3A) and the root holding device (3B), which are one of the features of the present invention, are reciprocating reciprocating as shown in FIG. Of the arms (32A) and (32B) supported by the rotating shafts (31A) and (31B).
A) and (33B) are provided, and the scion gripping part (33A) and the rootstock gripping part (33B) are specifically the upper part of the seedling as shown in FIGS. 3 and 5, respectively. And a claw part that sandwiches the lower two places. Cutting devices (4A) and (4B) are provided on the front surfaces of the scion gripping device (3A) and the rootstock gripping device (3B), respectively. The cutting blades (41A) and (41B) obliquely pull and cut a predetermined position. The cutting blade is a knob (43A)
The optimum position is adjusted by (43B).

Grafting of seedlings is carried out as follows by the apparatus of the present invention configured as described above. That is, seedlings for grafting are divided on the worktables provided on the pedestal (1) for the rootstock and for the scion, and are placed so that the seedlings can be efficiently supplied to the gripping device. , The operator located on the side of the spikes should take out the seedlings on the workbench (6A) one by one, and hold the top and bottom of the seedlings with both hands and workbench (6
Positioning plate (37A) of the spike-holding part (33A) across the optical area sensors of the safety device installed at both ends of A)
When the pedal (P) is pressed against the gripping device (3A)
Cylinder (39A) of the seedling is operated, the upper part of the seedling is held between the positioning plate (37A) by the pressing claw (38A), and the lower part of the seedling is lifted from below by operating the cylinder (30). The grip claw (30A) is closed and held. (Fig. 3)

After the seedling (A) is thus held by the scion grasping device (3A), it is confirmed that both hands have left the optical area sensor of the safety device, and the cutting device (4
The cylinder (42A) of (A) is operated, and the cutting blade (41
At the same time that A) approaches the scion gripping part across the seedling, at the same time, the stem part between the upper and lower gripping claws is cut off diagonally from below to above. (FIG. 4) (The cutting blade is fixed so that the front end portion of the cutting blade faces downward from the rear end portion.) After the cutting of the scion ends, the grip claw (30A) retreats downward and It is opened and the roots of the seedlings are discharged.
Along with this, the arm part (32A) of the gripping part (33A) pivots 180 ° and is cut, so that the cutting part is positioned above the belt conveyor (2) and stops, and in conjunction with this, the cutting device ( The working cylinder (42A) of 4A) is actuated, and the cutting blade (41A) that has finished cutting the spikes returns to the original position.

On the other hand, on the rootstock side as well as on the rootstock side,
The operator can take out the seedlings on the workbench (6B) one by one, hold the upper part and the lower part of the seedling with both hands and cross the optical area sensor of the safety device installed at both ends of the workbench (6B). When the pedal (P) is pressed against the grip portion of the stock holding portion (33B) and the pedal (P) is depressed, the cylinder (35
B) is actuated, the lower part of the seedling is held between the grip claws (34B), and the upper part of the seedling is actuated by the cylinder (37B) and the gripping claw (36B) is closed and held. (Fig. 5)

After the seedling (B) is thus held by the root gripping device (4B), it is confirmed that both hands have left the optical area sensor of the safety device, and the cutting device (4
The cylinder (42B) of B) is actuated and extended to approach the cutting blade (41B) across the seedling to be gripped by the root gripping part (33B), and at the same time, to move the stem between the upper and lower gripping claws. Cut diagonally from top to bottom. (FIG. 6) (The cutting blade is fixed so that the front end of the cutting blade faces upward than the rear end of the cutting blade.) After cutting the rootstock, the gripping claw (36
B) retreats to the side and opens the claw to open and discharge the bud portion of the cut seedling. In accordance with this, the arm (32B) of the gripping part (33B) turns 180 °, and the gripped root part stops at the joining position above the belt conveyor (2). (4
The cylinder (42B) of B) is activated and the cutting blade (41B)
In B), the cylinder (37B) of the upper gripping device of the rootstock extends in synchronism with the return to the original position, and returns to the rootstock gripping position with the gripping claws (36B) open.

As described above, the seedlings are supplied and gripped by the scion gripping device (3A) and the rootstock gripping device (3B), so that the scion (A) and the rootstock (B) become the workbench (6A) ( 6B), the pressing cylinders of both gripping devices operate simultaneously when facing each other at a position above the belt conveyor (2) on the side opposite to 6B).
When the cut surfaces of the base and the base (B) are joined together, the coupling devices (5A) (5) provided on the upper portions of both gripping devices, respectively.
The cylinder of B) is operated, and at the tip portion of the coupling device, the binding component supply devices (7A) and (7B) pass through the binding component supply chutes (71A) and (71B) and the columns (73A) (7).
After the binders (8) and (9) supplied to 3B) are adsorbed by the adsorption head, they are further advanced to press the binders from both sides against the joint portion of the seedlings for binding. When the binding work is completed in this way, the cylinder of the joining device returns to the original position, and both the gripping devices retreat to release the grafted seedlings onto the belt conveyor, which is one of the grafting works. Although the process is completed, at this time, as described above, on the workbench side, since the work of the next process of gripping and cutting the seedlings is completed, the arms of both gripping devices with the grafts opened are 180 ° Reverse and immediately return to the initial position.

When cutting the seedlings, the cutting blade attached to the cutting device on the side of the scion has a cutting angle of about 25 degrees and is fixed to the mounting portion at the tip of the cylinder so as to contact the seedling stalk. However, the optimum cutting angle of the cutting blade attached to the cutting device on the rootstock side is to make an inclination of about 20 degrees and fix it to the attachment part of the cylinder tip so as to contact the seedling stalk before cutting. Optimal. Normally, the cut surface of the seedling has 6 cuts of conduits, but it is known that if at least 4 conduits can be connected at the joint surface, it is sufficient for the growth of the seedling. Those cut as described above by using the cutting device could sufficiently satisfy this condition. Incidentally, with respect to the cutting direction of the cutting blade when cutting the seedlings, even when the cutting direction of the scion and the rootstock is performed in the vertical direction opposite to the above-mentioned example, the same conditions as above are applied. Was able to meet. As described above, the present invention has a simpler structure than the conventional grafting device, but it is efficient and can perform grafting properly.

Next, one specific aspect of the coupling and the supply of the coupling to the joint, which are the features of the present invention, will be described. As shown in FIG. 9, the connector is such that the grafted seedlings are sandwiched between small male and female pieces (9) (8) in the shape of a substantially rectangular plate made of a slightly flexible material such as plastics. Composed of a combination. The male mold (9) has four protrusions (91) near the four corners of the inner surface of a substantially rectangular piece, and a groove (92) for sandwiching a seedling is provided in the central portion in the short side direction. A plurality of ridges (94) are formed on the outer surface, and the ridge (9
3) is formed, and a pair of recessed holes are provided inwardly of the center of both short sides. The female mold (8) has through holes (81) fitted to the male protrusions (91) near the four corners of the inner surface of the substantially rectangular piece, and has a male groove (92) at the center in the short side direction. ) Corresponding to the above), a groove (82) for sandwiching a seedling is provided, and a plurality of ridges are formed on the inner peripheral surface of the groove in the same manner as the male surface, and a ridge is formed on one corner surface on the short side on the outer surface ( 83) is formed.

With the above-mentioned structure, the seedling-holding grooves (82) (92) can surely position the seedlings at the holding position without damaging the stalk, and further, in such a manner as described above. When the joint part of the grafted seedling is sandwiched by the tool, a plurality of ridges formed on the inner peripheral surface of the groove are caught on the stalk surface of the seedling and do not come off, resulting in a high bonding rate. Further, by forming the ridges (83) and (93) on one corner surface on the short side on the outer surface, when the coupling tool is automatically supplied to the joining position, the front and back of the small piece, front and rear, left and right supply direction determination. Since it can be easily done, it can be supplied in the correct direction and securely connected. Since the connector of the present invention can be elastically deformed, as the seedling grows, the connector will naturally fall off due to the expansion force of the stem in the radial direction, and the subsequent work can be labor-saving and easy. Is.

As described above, the following steps are used for joining using the joining tool. That is, the vibrating part feeders (7A) and (7B) for supplying the parts (8) and (9) of the connecting device to the connecting device are placed on the columns standing upright on the stand (1), and the parts feeders are installed. The parts (9) and (8) of the coupler are stored in (7A) and (7B),
The components are aligned and oriented while being conveyed by the slight vibration of the feeder, and are continuously fed and stacked in the supply columns (73A) (73B) through the shooters (71A) (71B).

Next, the parts (9) fed from the feeders (7A) (7B) into the supply columns (73A) (73B).
(8) is pushed out one by one, and the coupling device (5A)
When the suction heads (52A) and (52B) of (5B) are reached, the vacuum ejector operates to suction the parts (9) and (8). (FIGS. 2 and 7) (5 in FIG. 7)
The B system is omitted because it is the same as 5A) The coupling device is composed of a cylinder (51A) fixed by a bracket or the like attached to a support plate (77) and a suction head (52A) attached to the tip of the cylinder. When the coupling component (9) is sucked by the head (52A), the second component from the bottom aligned in the column (73A), that is, for separating from the supporting hole of the component next to the sucked component A separating pin (53A) provided at the tip of the cylinder (54) is inserted to prevent the parts from falling down from the column.

A cylinder (79) with a shutter for opening and closing the outlet at the tip of the column (73A) of the chute (71A).
A) is attached and fixed to a support plate, and operates the shutter (78A) in synchronization with the movement of the suction head (52A), and when the shutter (78A) is opened, the suction head (52A). Advancing and adsorbing the opposing joint parts.

In this way, when the spike-holding portion and the root-holding portion are combined in a straight line, the coupling tools (8) and (9) are used.
Are adsorbed by the respective suction heads, and are advanced in synchronization with each other, the portion where the scion and the rootstock are joined is sandwiched in the groove of the coupling tool, and the coupling projection and the coupling hole are fitted and fixed. It The coupling parts (8) and (9) are supported by the separating pins when the suction head advances and are prevented from falling and are held as they are, but the parts are released when the suction head returns to the original position. It is then sent downward and enters the adsorption operation.

Further, since the parts feeder is expensive and a large number of connecting parts are sent and stored in the column of the shooter, one set of feeders is used to supply the connecting parts to the two grafting devices. It is also possible. That is, another similar grafting device is provided on the opposite side across the parts feeder, and as shown in FIGS. 1 and 7, the shooter portion of the feeder is connected to the upstream feeding portions (71A) (71B) and the intermediate portion. Is divided into a transfer part (72A) (72B) and a downstream supply part (73A) (73B), and a supply column (73A) (73B) which is a downstream supply part is connected to each grafting device (5A). ) (5B) so as to be connected, and intermediate transfer portions (72A) and (72B) are provided by a switching cylinder (76) so as to be movable between the left and right grafting devices, and an upstream feeding portion (71A) (71B) is connected to the feeder bodies (7A) and (7B) and placed, and the upstream feeding portions (71A) and (71B) and the intermediate feeding portion (72).
A) An appropriate openable / closable valve or the like is provided at the lower end of (72B) to prevent the components from falling.

Now, the parts are continuously supplied to one of the grafting devices, and after the inside of the supply column is filled with the parts, at least when the column of the intermediate transfer portion is also filled with the parts, the switching cylinder is operated to perform the opposite operation. When connected to the feed column of another grafter on the side, the valve opens to feed the part into the column. The empty column in the intermediate transfer section is returned to its original position by the switching cylinder, and when it is connected to the shooter section and column section of the feeder, the parts accumulated in the shooter section are supplied to the column section through the transfer section. Will be done. In this way, the connecting parts are supplied from the parts feeder to the supply column in units of several tens filled in the transfer column, so that a sufficient amount for performing grafting work is secured during the switching operation. ing. It goes without saying that the parts feeder may be installed in a well-balanced position as an intermediate position between the two grafting devices.

[0028]

As described above, by using the grafting device of the present invention, it is possible to cleanly cut the joint surface between the rootstock seedling and the spikelet seedling by a simple operation of supplying the seedling and stepping on the pedal. In addition, since the joint surfaces can be surely brought into contact with each other and can be automatically joined and fixed by using a unique coupling tool, it is labor-saving and anyone can easily produce grafted seedlings. I can.

[Brief description of drawings]

FIG. 1 is a schematic front view.

FIG. 2 is an enlarged view of a front main part.

FIG. 3 is a detailed view of a scion gripping portion.

FIG. 4 is a cut view of the scion.

FIG. 5 is a detailed view of a root holding portion.

FIG. 6 is a cutaway view of the rootstock.

FIG. 7 is an explanatory diagram of connection component supply of the connection device.

FIG. 8 is an explanatory diagram of supply switching in the component supply device.

FIG. 9 is an explanatory diagram of a seedling connection.

[Explanation of symbols]

 1 frame 2 transfer device 3A scion gripping device 3B rootstock gripping device 4A scion cutting device 4B stock cutting device 5A scion side joining device 5B stock side joining device 6A scoop side work table 6B stock side work table 7A Scion side connecting parts supply device 7B Rootstock side connecting parts supply device 8 Connection parts (female type) 9 Connection parts (male type) A Spike B rootstock

Claims (1)

[Claims] 1. A pair of arms supported opposite to each other on a gantry so as to be able to be inverted 180 degrees has a scion seedling gripping portion at one end thereof, and a rootstock seedling gripping portion at the other end thereof. And forming a scion seedling gripping device and a rootstock seedling gripping device, a transfer device for discharging grafts is arranged between the gripping devices, and the scion seedling gripping device and the rootstock seedling gripping device are provided. A binding device is provided on the upper part of each of the gripping devices, and a cutting device that can cut and cut the seedlings diagonally is provided on the front side of each of the gripping devices, and further, from the optical area sensor in front of the gripping devices. An automatic grafting device, characterized in that a workbench equipped with a safety device is arranged.