FR3139745A1 - Grip system for a textile part - Google Patents

Abstract

System for gripping a textile part System for gripping (2) a textile part (T) present on top of a support, in particular a stack (P) of textile parts, comprising: At least one gripping module ( 1) comprising At least one suction nozzle (10) arranged to apply on top of the part, At least one sole (40) able to apply on top of the part, At least one air nozzle (20 ) to blow a jet of air near the part in order to detach it at least partially from an adjacent part, a retaining member (30) movable relative to the sole, arranged to be inserted between the part and the support so that the part is pinched between the retainer and the sole. Figure for abstract: Fig. 1

Description

Grip system for a textile part

The present invention relates to systems for gripping textile parts.

In the field of clothing manufacturing in particular, textile pieces are prepared separately then stacked waiting to be assembled.

The operator then grabs the pieces to be assembled on top of the corresponding piles, then positions them relatively to each other before sewing them together, for example.

We sought to automate the transport of parts between the piles and the assembly area, using robots equipped with systems for gripping textile parts.

Current gripping systems use suction cups, jaws or needle grippers, which have drawbacks.

Suction cups generally have a limited action depending on the thickness of the fabric.

The jaws tend to damage the textile by creating a fold when gripping it.

Needle grippers also tend to damage the textile by perforating it and generally have a limited action depending on the thickness of the textile.

We also know a gripping system combining a suction cup and a movable retaining member between a retracted position and a textile holding position where it is folded down onto a sole present on the same side of the textile as the suction cup.

However, such a gripping system only works with fairly heavy fabrics, and does not make it possible to grip light textiles such as jacket linings for example; in fact, for light textiles, the action of the suction cup tends to pull several pieces and not just the piece on top.

Furthermore, the textile parts to be gripped are not always of the same dimensions, and the gripping systems must be able to be adjusted in position relative to a support system so as to be adapted to the geometry of the parts to be gripped. Currently, this adjustment is carried out manually and in a relatively complex manner, which generates a waste of time and a risk of error, and would benefit from being able to be carried out more simply and/or fully automatically.

There therefore remains a need to have a gripping system making it possible to remedy the drawbacks of known gripping systems, and in particular capable of reliably and precisely gripping light textile pieces, without damaging them, and capable of return, if necessary.

There is also another need to allow the configuration of the gripping system to be adjusted in a relatively simple and/or automatic manner relative to the support system, to adapt it to the geometry of the textile parts to be handled.

• Au moins un module de préhension comportant :
  • Au moins une buse de succion agencée pour s’appliquer sur le dessus de la pièce,
  • Au moins une semelle apte à s’appliquer sur le dessus de la pièce,
  • Au moins une buse à air pour souffler un jet d’air à proximité de la pièce, notamment entre la pièce et le support, afin de la décoller au moins partiellement d’une pièce adjacente,
  • Au moins un organe de retenue mobile relativement à la semelle, agencé pour s’insérer entre la pièce et le support de manière à ce que la pièce soit pincée entre l’organe de retenue et la semelle.

The invention aims, according to a first of its aspects, to respond at least to the first need above, and to this end proposes a system for gripping a textile part present on the top of a support, in particular a stack of textile parts, comprising:

• At least one gripping module comprising:
  • At least one suction nozzle arranged to apply on top of the part,
  • At least one sole capable of being applied on top of the part,
  • At least one air nozzle for blowing a jet of air near the part, in particular between the part and the support, in order to detach it at least partially from an adjacent part,
  • At least one retaining member movable relative to the sole, arranged to be inserted between the part and the support so that the part is pinched between the retaining member and the sole.

The invention makes it possible to grasp a textile piece, even a light one, and to handle it precisely, without the risk of simultaneous seizure of several superimposed pieces or damage to the textile. Indeed, if several parts are seized by the suction nozzle(s), the air which is blown allows the part(s) which are not directly in contact with the suction nozzle(s) to fall back.

In other words, the suction created by the suction nozzle makes it possible to select the textile piece present on top of the pile. The presence of the air nozzle allows a flow of air to be blown onto the part which facilitates its separation from the rest of the stack, and the insertion of the retaining member under the part.

The invention allows the seizure of all types of fabrics, whether thin or thick, and whether simple or crafted textiles, velvets or knits.

The gripping system according to the invention makes it possible to combine modularity, gripping precision, and part turning if necessary.

Preferably, the retaining member is rotatable between an inactive retracted position and an active position where it is folded against the sole and pinches the part against it.

The gripping system may comprise more than one gripping module according to the invention, for example between two and four modules.

The same gripping module may include several suction nozzles, for example two suction nozzles, and for example one air nozzle for each suction nozzle or just one for two suction nozzles; the gripping module may have only one retaining member, preferably located between two suction nozzles.

At least one suction nozzle can be mounted on a spring compensation system. This compensation system may include a depression chamber connected to the vacuum line, the suction nozzle being movable relative to this depression chamber against the return action of an elastic return member, the recoil of the suction nozzle in the compression chamber accompanied by a deformation of the elastic return member. The suction nozzle may in particular comprise a cylindrical body sliding in an opening of the vacuum chamber, and the elastic return member may be in the form of a helical spring mounted on the cylindrical body, this spring being for example compressed between a shoulder at the base of the suction nozzle and the exterior of the vacuum chamber around the opening into which the body of the suction nozzle can slide; the suction nozzle may include a retaining stop which holds it captive from the vacuum chamber. The exterior of the vacuum chamber against which the spring bears axially can be defined by a nut.

Preferably, the gripping system comprises a support system for the or each gripping module, making it possible to adjust its position relative to a fixing zone of the gripping system on a manipulator system. We can thus adapt the position of the gripping modules to the shape and dimensions of the textile part to be handled.

When the gripping system comprises several gripping modules, one of them can be fixed relative to the support system and the other(s) fixed in an adjustable manner by the user.

At least one of the modules, and better still all the modules, are preferably immobilized on the support system by an unlockable magnetic fixing; it is thus possible to obtain rapid movement of the modules when a change of configuration is necessary to move from a textile part having a given geometry to a textile part having a different geometry.

This unlockable magnetic fixation can be assisted by at least one suction cup carried by the module and placed next to the magnet, this suction cup being activatable to oppose a rotation of the magnet relative to the support system, as explained below. .

The support system may comprise at least two arms articulated together and each carrying at least one respective gripping module, with the possibility of adjusting the position of the module along the arm. By adjusting the angle between the arms as well as the position on the arms we can cover a wide range of relative positions between the modules and the manipulator system.

Alternatively, the support system comprises a chassis with one or more fixing zones constituted by one or more plates of ferromagnetic material.

At least one, better each gripping module, may comprise at least one movable magnet relative to the support system between an active position where it is close to the support system and maintains by magnetic attraction the module in its location on the support system and an inactive position where the magnet is further away from the support system and the magnetic attraction is less or zero, so as to allow it to be moved relative to the support system.

The magnet can be pneumatically controlled, and its activation or deactivation can be carried out by compressed air; the magnet is for example a magnet, in particular circular, pneumatically controlled as offered by the company MECAMAG. The activation and deactivation of the magnet can be controlled via a distributor.

Changing the position of the module relative to the support system once the magnet is in the inactive position can be done manually or automatically, for example by using a robot or an actuator to act on the module.

At least one, or better, each gripping module, may include an anti-rotation suction cup which is connected to a vacuum line and which applies to the support system next to the magnet. The suction cup creates an additional attachment point for the grip module on the support system, which opposes rotation of the grip module around the axis of the magnet.

Such a rotation is likely to occur if the force of attraction is insufficient to counter the torque exerted on the gripping module by its environment, in particular by pneumatic cables and/or a cable carrier system. This avoids the use of a larger, heavier and bulky magnet to achieve this rotational immobilization.

By “magnet” within the meaning of the application, we must understand any permanent magnet or assembly of one or more magnets with one or more parts made of ferromagnetic material.

• Amener le ou les modules au-dessus de la pièce près d’au moins un bord de manière à pouvoir soulever celle-ci avec la ou les buses de succion correspondantes,
• Souffler de l’air à proximité de la pièce à l’aide de la ou des buses correspondantes pour détacher la pièce d’une ou plusieurs pièces sous-jacentes éventuelles aspirées par la ou les buses de succion,
• Insérer le ou les organes de retenue correspondants sous la pièce alors que celle-ci est aspirée par la ou les buses de succion, de manière à pincer la pièce entre le ou chaque organe de retenue et la ou les semelles associées.

The invention also relates to a method of gripping a textile piece using a gripping system according to the invention, comprising the steps consisting of:

• Bring the module(s) above the part near at least one edge so that it can be lifted with the corresponding suction nozzle(s),
• Blow air near the part using the corresponding nozzle(s) to detach the part from any underlying part(s) sucked in by the suction nozzle(s),
• Insert the corresponding retaining member(s) under the part while it is sucked by the suction nozzle(s), so as to pinch the part between the(er) retaining member(s) and the associated sole(s).

Air blowing can be carried out simultaneously with suction through the associated suction nozzle(s); it is possible to trigger the blowing at the same time as the suction through the suction nozzle(s), or alternatively with an advance or delay in time, for example to take into account the delay necessary for the establishment of the vacuum in the suction nozzle(s), taking into account the characteristics of the vacuum line to which the suction nozzle(s) are connected.

Preferably, the blowing is delayed relative to the suction by the suction nozzle(s) of the textile piece; the advantage of delaying blowing is to facilitate the separation of two layers when they have already been lifted by the suction nozzles. When the fact of blowing before suction by the suction nozzle(s) could result in the risk of chasing away the textile parts which remain in the pile during the rise of the gripper, it is better to blow when one or more of these textile parts have been moved away from the pile thanks to the suction nozzle(s) at the level of the gripping module.

The process may include grasping the part, transporting it and removing it, with at least one of the air nozzles being able to be activated during removal to limit the risk of a crease forming.

• Un système de support,
• Au moins un module de préhension fixé de manière réglable en position relativement au système de support, ce module de préhension comportant :
  • Au moins une buse de succion,
  • Au moins une semelle,
  • Au moins un organe de retenue mobile relativement à la semelle, agencé pour s’insérer entre la pièce et le support de manière à ce que la pièce soit pincée entre l’organe de retenue et la semelle,
  • Une fixation magnétique déverrouillable, pouvant passer d’une configuration active où elle immobilise par attraction magnétique le module de préhension sur le système de support à une configuration déverrouillée où elle permet un réglage en position du module relativement au système de support.

The invention also relates, according to another of its aspects, independently or in combination with the above, to a gripping system comprising:

• A support system,
• At least one gripping module fixed in an adjustable manner in position relative to the support system, this gripping module comprising:
  • At least one suction nozzle,
  • At least one sole,
  • At least one movable retaining member relative to the sole, arranged to be inserted between the part and the support so that the part is pinched between the retaining member and the sole,
  • An unlockable magnetic attachment, which can go from an active configuration where it immobilizes the gripping module on the support system by magnetic attraction to an unlocked configuration where it allows adjustment of the position of the module relative to the support system.

As mentioned above, at least one, or better, each gripping module, may include an anti-rotation suction cup which is connected to a vacuum line and which applies to the support system next to the magnet.

The invention also relates to a gripping module for a gripping system according to the invention, considered in isolation.

The invention can be better understood on reading the detailed description which follows, non-limiting examples of its implementation, and on examining the appended drawing, in which:

there partially and schematically represents a gripping module,

there illustrates the action of the suction nozzle,

there illustrates the action of the air nozzle,

there illustrates the installation of the retaining member under the textile piece,

there schematically and partially represents the support system,

there illustrates the removal of a textile piece after it has been seized,

there illustrates the textile part being transported,

there illustrates the removal of the textile part,

there illustrates the possibility of repositioning the gripping modules on the support system, depending on the geometry of the textile part,

there illustrates a variant embodiment of the support system,

there illustrates the possibility of repositioning the grip modules on the support system of the depending on the geometry of the textile piece,

there partially and schematically represents an example of a compensation system for a suction nozzle, in rest configuration,

there is a view analogous to the , representing the compensation system in support configuration against the textile part,

there represents in perspective, partially, an example of realization of the gripping system,

there represents the system of from another angle of view,

there represents in more detail an example of a gripping module, the suction nozzles being visible,

there represents from another angle of view the gripping module of the ,

there shows the gripping module from another angle of view, the magnetic attachment and the anti-rotation suction cup being visible,

there represents another example of a gripping system, and

there represents the system of from another angle of view.

detailed description

We illustrated at an example of a gripping module 1 according to the invention, comprising at least one suction nozzle 10, shown schematically, at least one air nozzle 20, connected for example to a source of compressed air, and at least one retaining member 30 movable in rotation between a retracted position corresponding to the and an active position, for retaining a textile part, in which this retaining member 30 bears on a sole 40 (also called an “anvil”) of the module. The retaining member 30 is movable in rotation under the effect of an actuator 39, such as an electric motor or pneumatic cylinder. The rotational travel of the retaining member 30 is for example between 60 and 120°, being for example approximately 90°. The retaining member (also called a “hammer”) may include an end 31 adapted to contact the textile part, for example an end provided with a pad or a boss.

On the there is also shown a stack P of superimposed textile pieces T, intended to be successively taken by the gripping system 1.

Each suction nozzle 10 can be mounted on a spring compensation system 11, shown very schematically on the , which allows a recoil of the suction nozzle 10 relative to a frame of the module 1, against the elastic action of the spring, this recoil being able to occur for example in the event of non-flatness of the pile P or an offset in altitude of different nozzles suction 10 intended to contact the same textile part T at the same time.

An example of compensation system 11 is shown in Figures 12A and 12B; this may include a vacuum chamber 301 connected by a pipe 302 to the vacuum line. The suction nozzle 10 comprises a body 311 movable relative to the chamber 301, between a rest position, illustrated in , and a support position against the textile part, illustrated in , in which the suction nozzle has moved back into the vacuum chamber.

The suction nozzle 10 can carry, as illustrated, a helical spring 320 mounted on the cylindrical body 311, this spring working in compression and bearing at its lower end against a shoulder 312 at the base of the nozzle and at its upper end against with nut 330 fixed relative to the vacuum chamber. The body 311 is engaged through an opening in the wall 303 of the vacuum chamber adjoining the nut 330 and has a retaining stop 314 opposing its complete exit from the vacuum chamber.

We will now describe with reference to Figures 2 to 4 the principle of using the gripping module 1 to grip the textile part T located on top of the stack P.

On the we have illustrated the first step consisting of placing the suction nozzle 10 on top of the textile part T. During this step, the spring 11 is compressed slightly and the sole 40 can come to bear against the textile part T.

We can start by activating the suction nozzle 10, as illustrated in . The vacuum created therein sucks the textile piece T. The module 1 is positioned near an edge B of the textile piece T. The textile piece T is lifted slightly, creating a deflection with the underlying textile piece of the pile P.

The air nozzle 20 is positioned opposite the edge B, or even below, and air is emitted by this nozzle to separate the part T, the air engaging between the part T and the rest of the stack P , as shown in . The air blown by the nozzle makes it possible to separate the textile part T from the underlying part.

Air blowing can occur simultaneously with activation of the suction nozzle or with a slight time delay. In particular, as mentioned previously, it may be preferable to trigger the blowing while the gripping module has moved a little away from the stack.

The air flow is calibrated to lift the part without blowing it away. The ejection speed is adjustable either manually or automatically with a controlled valve. Preferably, the air is blown as close as possible to the fabric between the suction nozzles.

The gripping module 1 can be lifted by the manipulator system (not shown in Figures 2 to 4, for example an arm of a cobot or 6-axis robot) and the retaining member 30 is pivoted towards its active position. The retaining member 30 is applied by its end 31 against the sole 40 to clamp the textile part T between the two. The air nozzle 20 and the suction nozzle 10 may stop working.

On the , we have shown the gripping system 2 with the support system 110 which is used to fix the module 1 on a manipulator system 100.

The support system 110 allows the fixing of one or more gripping modules 1 with a chosen relative positioning of the modules 1 between them.

In the example considered, the fixing of the modules on the support system 110 is carried out using magnetic fixings 120 each comprising at least one magnet 121, this magnet 121 being able to move from an active position where it maintains so immobile by magnetic attraction the module 1 on the support system 110 to an inactive position where it allows movement of the module 1 on the support system 110 to adjust its position, for example when changing the textile part T and the We must adapt the positioning of modules 1 to the new geometry of part T.

The magnetic fixation 120 includes for example a mechanism which allows, when actuated, to move the magnet 121 away from the support system 110 so as to reduce the force of magnetic attraction and thus allow the position to be adjusted. This mechanism is for example pneumatic.

The manipulator system 100 may include a robotic arm, for example a six-axis arm. The robot can be a cobot, to facilitate the programming of movements and tasks.

Figures 6 to 8 illustrate the possibility for the gripping system 2 to grasp a textile piece T and transport it then place it upside down on a receiving area, for example with a view to superimposing it on a another textile piece T' which was brought there previously. During the movement of the textile part T, the removal movement allows the part to be turned over.

We see on the that the textile piece T can be placed after having been turned over the textile piece T', and when the piece T is positioned as required, the retaining member 30 can be pivoted towards its initial position, thereby releasing the piece textile T. The vacuum of the suction nozzle 10 can be cut; the textile part T then falls under the effect of its own weight on the textile part T'. If necessary, the nozzle 20 can blow air to reduce the risk of creases forming when the textile piece is deposited.

The support system 110 can be of the “scissors” type as illustrated in the , with two arms 112 articulated to one another around a fixing zone 130 on the manipulator system 100, each arm carrying on either side of the articulation a gripping module 1 with a possibility of adjustment of the position of this module along the arm 112.

We have illustrated by diagrams A and B on the two possible configurations of the gripping modules 1 on the support system 110, for two textile parts T of different geometries.

Diagram C illustrates the possibility of using only two modules 1 when for example the textile part T can be held by two opposite ends, which is the case in particular when the textile part T is in the form of a strip.

The modules 1 are for example connected by slide links to the arms 112.

The movement of the modules 1 along the arms can be carried out by specific actuators (not shown) present on the arms 112, or by an independent adjustment system which comes into operation during the positioning phase; this independent adjustment system grasps for example the gripping module 1 then the manipulator system is then actuated to cause a movement of the module thus immobilized on the arm. We can also use a manipulator arm dedicated to the operation of adjusting the position of the modules on the arms.

In the example of the , the arms 112 are made at least partially of a ferromagnetic material, so as to allow the magnets to be able to stick to the arms in the active position of immobilization of the modules 1 on the support system 110.

The support system 110 can also be made differently, and it can in particular be of the “tray” type, as illustrated in the , comprising a chassis 113 having several fixing zones 114 of a module 1 by magnetization. In the example illustrated, the chassis 113 has four fixing zones 114 allowing the fixing by magnetization of a corresponding module 1. Each fixing zone 114 comprises for example a plate made of a ferromagnetic material on which the magnet 121 of the magnetic fixing 120 of module 1 can be fixed by magnetic attraction.

By choosing the locations of the fixing zones 114 on the chassis 113, and within each fixing zone 114, the location of the module 1, it is possible to arrange the different modules 1 with a relative positioning corresponding to the geometry of the article to enter, as shown in the .

In this figure, diagrams A and B correspond to two different geometries of the textile part T. We see that the positioning of the gripping modules 1 on the zones 114 has been modified accordingly. Diagram C illustrates the possibility of using only two modules 1 positioned on two corresponding fixing zones 114 when the textile part can be grasped by means of only two gripping modules.

We will now describe with reference to Figures 13 to 17 a first example of production of a gripping system 2 comprising gripping modules 1 with two suction nozzles and two air nozzles.

This gripping system 2 comprises two modules 1 carried by a chassis 113, which can present as illustrated in the a plate 114 made of ferromagnetic material, allowing the fixing by magnetic attraction of each of the modules 1 in the chosen position.

The frame 113 has for example a generally triangular shape, the plate 114 extending along the base of this triangle; electrical and/or fluidic connections 400 connect each of the modules 1 to a zone 116 of the chassis 113 close to that where the handling system attaches, this zone 116 being close to the top of the triangle.

The chassis 113 can carry a user interface 117 close to this top as well.

Each module 1 preferably comprises two suction nozzles 10, which can each be mounted on a spring-loaded compensation system 11, as described above.

Each module 1 can also include a single retaining member 30 which is rotatably mounted relative to a frame 154 of module 1, using for example a compressed air actuator 39.

Each module 1 comprises in this example two air nozzles 20, each associated with a suction nozzle 10, and whose axis is substantially coplanar with the axis thereof.

The retaining member 30 may be in the form of an arm comprising a central portion 30a mounted on the shaft of the actuator 39, and a distal portion 30b connected to the central portion by an intermediate portion 30c extending substantially parallel to the axis of rotation of the retaining member 30, such that the end 31 of the retaining member is located substantially halfway between the two suction nozzles 10. When the retaining member is actuated, the end 31 applies against a sole 40.

Each module 1 includes a magnetic attachment 120 which is visible on the , on the side opposite the suction nozzles 10.

This magnetic attachment 120 comprises a controlled magnet 121, which is movable axially thanks to an actuator 122, between an active position where the magnet 121 can contact the plate 114 and an inactive position where the magnet 121 is recessed and the attraction insufficient magnetic to ensure good retention of module 1 on plate 114.

A suction cup 500 selectively connected to the vacuum line is placed next to the magnetic attachment, to apply to the plate 114 and, when activated, oppose a rotation of the magnet around its axis.

This allows, once the suction cup is activated, to completely immobilize module 1 relative to chassis 113, including in rotation relative to the longitudinal axis X of magnet 121.

Each module 1 can be adjusted in position by acting on the fixing system, by making the suction cup 500 inactive and by moving the magnet 120 from the active immobilization position of the module to the inactive position.

The gripping system 2 can also comprise four modules 1 as illustrated in Figures 18 and 19, with for example at least three plates 114 of ferromagnetic material, allowing the fixing by magnetic attraction of at least three of the modules 1. One modules can be fixed relative to the chassis 113, as illustrated in the ; alternatively, the four modules 1 are mounted in an adjustable manner.

A robot can be used to operate the magnetic fixing systems to bring the magnet to the inactive position, adjust the position of the module on the chassis, then return the magnet to the active position, in order to immobilize the module in the new position.

Although the change in position of the modules is preferably carried out automatically, we do not depart from the scope of the present invention when this change is carried out at least partly manually.

The gripping system may include only one gripping module, if necessary, for handling small textile parts.

In a variant, the magnetic fixing system of the gripping modules is replaced by one or more suction cups, which can make it possible to use a non-ferromagnetic plate, and therefore potentially less heavy.

Claims (15)

Grip system (2) for a textile part (T) present on top of a support, in particular a stack (P) of textile parts, comprising:

• At least one gripping module (1) comprising
  
  • At least one suction nozzle (10) arranged to apply on top of the part,
  • At least one sole (40) capable of being applied on top of the part,
  • At least one air nozzle (20) for blowing a jet of air near the part in order to detach it at least partially from an adjacent part,
  • a retaining member (30) movable relative to the sole, arranged to be inserted between the part and the support so that the part is pinched between the retaining member and the sole.

System according to claim 1, the retaining member (30) being rotatable between an inactive retracted position and an active position where it is folded against the sole (40) and pinches the part against it. Grip system according to one of claims 1 and 2, comprising a support system (110) of the or each module, making it possible to adjust its position relative to a zone (116) for fixing the grip system (2) on a manipulator system (100). Gripping system according to claim 3, the support system (110) comprising at least two arms (112) articulated together and each carrying at least one respective gripping module (1) with the possibility of adjusting the position of the module along of the arm. Gripping system according to claim 3 or 4, the or each module (1) comprising at least one magnet (121) movable relative to the support system (110) between an active position where it is close to the support system and holds by attraction magnetic the module in its location on the support system and an inactive position where the magnet is further from the support system and the magnetic attraction less or zero, so as to allow it to be moved relative to the support system. System according to any one of the preceding claims, comprising between two and four gripping modules (1). System according to any one of the preceding claims, the same gripping module (1) comprising several suction nozzles (10), preferably two suction nozzles (10). System according to claim 7, comprising an air nozzle (20) for each suction nozzle. System according to claim 7 or 8, the gripping module (1) having only one retaining member (30). System according to any one of claims 7 to 9, comprising at least two suction nozzles (10) arranged on either side of the retaining member (30). System according to any one of the preceding claims, at least one suction nozzle being mounted on a spring-loaded compensation system (11). System according to claim 5, the or each gripping module (1) comprising an anti-rotation suction cup (500) which is connected to a vacuum line and which applies to the support system (110) next to the magnet (121) Method for gripping a textile piece using a gripping system as defined in any one of claims 1 to 12, comprising the steps consisting of:

• Bring the module(s) above the part near at least one edge so that it can be lifted with the corresponding suction nozzle(s) (10),
• Blow air near the part using the corresponding blowing nozzle(s) to detach the part from one or more underlying parts possibly sucked up by the suction nozzle(s) (10),
• Insert the retaining member(s) (30) under the part while it is sucked by the suction nozzle(s) (10), so as to pinch the part between the retaining member(s) and the sole(s) ( 40) associated.

Method according to claim 13, comprising grasping the part, transporting it and removing it, at least one of the air nozzles (20) being activated during removal to limit the risk of forming a fold. Method according to claim 14 or 15, the blowing being delayed in relation to the suction by the suction nozzle(s) (10) of the textile piece.