EP3938148A1

EP3938148A1 - Exoskeleton for carrying and handling photovoltaic panels

Info

Publication number: EP3938148A1
Application number: EP20709226.3A
Authority: EP
Inventors: Nacib BENMAMMAR; Medhi ATHMANI
Original assignee: Total SE
Current assignee: TotalEnergies Onetech SAS
Priority date: 2019-03-14
Filing date: 2020-03-12
Publication date: 2022-01-19
Also published as: FR3093663B1; WO2020182955A1; FR3093663A1

Abstract

The present invention relates to an exoskeleton (1) for carrying and handling photovoltaic panels (9) comprising: - a carrying harness (3) configured to be positioned on the user's torso, - an articulated arm (5) attached to the carrying harness (3) at a first end (5a) and comprising a gripping unit (7) for a photovoltaic panel (9) at a second end (5b), the articulated arm (5) comprising a plurality of pivot links (50), the axes of rotation of which are configured to extend substantially parallel to the rostro-caudal axis of the user to allow the photovoltaic panel (9) to be moved relative to the user's torso, wherein the articulated arm (5) is movable between a handling position in which the articulated arm (5) extends in a forward direction to accompany an arm of the user and allow the photovoltaic panel (9) to be handled and a carrying position in which the articulated arm (5) is folded in a rear position to allow the photovoltaic panel (9) to be positioned parallel to the dorsal portion of the carrying harness (3) and in that the exoskeleton (1) comprises means for locking the articulated arm (5) in the carrying position.

Description

Title of the invention: Exoskeleton for carrying and handling photovoltaic panels

[1] TECHNICAL FIELD

[2] The present invention relates to the field of aid devices

handling of photovoltaic panels

[3] STATE OF THE ART

[4] Indeed, certain types of photovoltaic panels, in particular with a metal frame and a protective glass, are relatively heavy and bulky so that at least two people are generally necessary to install these photovoltaic panels, in particular on roofs of buildings. This need may also be due to the environment in which the photovoltaic panels must be installed (topography, rough terrain, sloping, slippery, etc.).

[5] To facilitate the installation of photovoltaic panels, it is known to use cranes or forklifts to allow the installation of photovoltaic panels. However, such equipment is expensive, bulky and also requires several people. In addition, such equipment is not readily available in some regions of the world.

[6] Furthermore, it is known to use mechanical assistance equipment

to facilitate the handling of heavy objects by operators, such as exoskeletons, which on the one hand reduce the forces applied to the operator's joints and on the other hand increase tenfold

the operator, especially when lifting heavy objects.

[7] However, such exoskeletons are not suitable for the installation of

photovoltaic panels which may require displacements with carrying the photovoltaic panel over long distances as well as the use by the operator of ladders to climb on the roof of a building such as a house or a hangar, actions which are rendered difficult by weight and

the size of a photovoltaic panel. [8] The present invention therefore aims to facilitate the handling and installation of a photovoltaic panel so as to be able to carry out these actions by a single operator.

[9] DISCLOSURE OF THE INVENTION

[10] To this end, the present invention relates to an exoskeleton for carrying and handling photovoltaic panels comprising:

[11] - a carrying harness configured to be positioned on the torso of a user,

[12] - an articulated arm fixed to the carrying harness at a first end and

comprising a unit for gripping a photovoltaic panel at a second end, the articulated arm comprising a plurality of pivot links whose axes of rotation are configured to extend substantially parallel to the rostro-caudal axis of the user to allow the movement of the photovoltaic panel relative to the user's torso,

[13] in which the articulated arm is movable between a handling position in which the articulated arm extends in an anterior direction to accompany an arm of the user and allow the handling of the photovoltaic panel and a carrying position in which the articulated arm is folded in a posterior position to allow the positioning of the photovoltaic panel parallel to the dorsal part of the carrying harness and in that the exoskeleton comprises means for locking the articulated arm in the carrying position.

[14] According to another aspect of the present invention, the articulated arm is an isoelastic arm.

[15] According to another aspect of the present invention, the exoskeleton comprises at least one micromotor configured to rotate a joint of the articulated arm.

[16] According to another aspect of the present invention, the articulated arm comprises actuators such as motorized jacks.

[17] According to another aspect of the present invention, the exoskeleton comprises a pivot or ball joint at the second end of the articulated arm so as to allow a pivoting of a photovoltaic panel between a vertical position of handling or transport and a horizontal grip position or placing the photovoltaic panel on the ground via intermediate positions allowing it to be picked up or placed on an inclined plane such as a roof.

[18] According to another aspect of the present invention, the gripping unit is removable and is fixed to the articulated arm via fixing means so that different gripping units can be attached to the articulated arm, for example depending on the characteristics. of the photovoltaic panel to handle.

[19] According to another aspect of the present invention, the gripping unit

includes at least one suction cup.

[20] According to another aspect of the present invention, the gripping unit

comprises at least a first jaw configured to come to position around a first wafer of a photovoltaic panel and a second jaw configured to come to position around a second wafer of the photovoltaic panel opposite to the first wafer.

[21] According to another aspect of the present invention, the articulated arm comprises a telescopic part configured to translate the second end of the articulated arm relative to the first end of the articulated arm so as to allow the gripping of a photovoltaic panel placed on the ground. floor via the gripping unit.

[22] According to another aspect of the present invention, the exoskeleton also comprises a cable winch and a stem comprising an end portion configured to come to be positioned above and in front of the head of a user of the exoskeleton. , said bracket comprising a pulley at its end part around which the cable is wound, said cable being configured to be connected to a panel gripping unit

photovoltaic so as to allow the lifting or removal of a photovoltaic panel on the ground.

[23] According to another aspect of the present invention, the articulated arm is configured to be able to move the photovoltaic panel in a rostrocaudal direction when the articulated arm is in the carrying position so as to be able to adjust the position of the photovoltaic panel in relation to it. lower limbs of the user. [24] According to another aspect of the present invention, the articulated arm comprises at least one curved segment so as to allow the arm to extend around the torso of the user when the articulated arm is in the carrying position.

[25] According to another aspect of the present invention, the exoskeleton comprises means for stabilizing the photovoltaic panel during movement of the user of the exoskeleton, for example springs configured to stabilize the position of the photovoltaic panel.

[26] According to another aspect of the present invention, the stabilization means comprise:

- a plurality of sensors configured to transmit signals depending on the state of the exoskeleton,

- actuators configured to modify the state of a joint of the articulated arm,

- processing means configured to control the actuators as a function of the signals transmitted by the sensors.

[27] According to another aspect of the present invention, the exoskeleton comprises

also a complementary articulated module configured to be connected to the carrying harness and to extend at least partially along a lower limb of the user, said complementary articulated module being configured to assist the user during his handling movements or carrying the photovoltaic panel.

[28] According to another aspect of the present invention, the articulated module

complementary is an isoelastic modulus.

[29] According to another aspect of the present invention, the articulated module

additional comprises at least one actuator such as a motorized cylinder.

[30] According to another aspect of the present invention, the exoskeleton comprises

also at least one movable counterweight configured to be moved from a posterior position when the articulated arm is in a position of

handling in an anterior position when the articulated arm is in a carrying position.

[31] According to another aspect of the present invention, the exoskeleton comprises

also an assistive device configured to transmit to the user information related to handling and transporting photovoltaic panels.

[32] According to another aspect of the present invention, the assistive device

includes a visualization system such as augmented reality glasses.

[33] The present invention also relates to an assembly comprising a

exoskeleton according to one of the preceding claims and a charging station comprising an exoskeleton support and an exoskeleton charging unit in which the exoskeleton comprises at least one rechargeable battery and in which the exoskeleton support is adjustable in height so as to allow a user to adjust the height of the holder according to its size and the charging unit being configured to recharge the at least one rechargeable battery.

[34] Other characteristics and advantages of the invention will emerge from the

following description, given by way of example and without limitation, with reference to the appended drawings in which:

[35] [Fig.1] shows a schematic perspective view of an exoskeleton in a first position;

[36] [Fig.2] is a schematic perspective view of a user in a standing position carrying the exoskeleton of Figure 1 with the articulated arm extending in a first position;

[37] [Fig.3] is a schematic perspective view of a user in a standing position carrying the exoskeleton of Figure 1 with the articulated arm extending into a second position;

[38] [Fig.4] is a schematic perspective view of a user in a kneeling position carrying the exoskeleton of Figure 1 with the articulated arm extending into the first position;

[39] [Fig.5] shows a schematic perspective view of an exoskeleton comprising elastic actuation means;

[40] [Fig.6] shows a schematic perspective view of a user in a kneeling position carrying an alternative embodiment of the exoskeleton comprising an additional articulated module;

[41] [Fig.7] shows a schematic perspective view of a user

comprising an optical assist device; [42] [Fig.8] is a schematic perspective view of a user in a kneeling position carrying an exoskeleton comprising a

gripping according to an alternative embodiment.

[43] In these figures, identical elements bear the same references.

[44] The following realizations are examples. Although the description is

refers to one or more embodiments, this does not mean

necessarily that each reference relates to the same embodiment or that the characteristics apply only to a single embodiment.

Simple features of different embodiments can also be combined or interchanged to provide other embodiments.

[45] The present invention relates to an exoskeleton for carrying and

handling of photovoltaic panels, in particular rigid photovoltaic panels comprising a frame the length of which may exceed one meter and the weight of which may exceed 20 kilograms.

[46] Figure 1 shows an exemplary embodiment of an exoskeleton 1.

The exoskeleton 1 comprises a carrying harness 3 and an articulated arm 5.

[47] The carrying harness 3 is configured to be positioned on the torso of a user. The carrying harness 3 can take the form of a vest which can be easily put on by a user. In the present case, the carrying harness 3 comprises two shoulder straps 30 configured to be positioned on the shoulders of the user. The carrying harness 3 can comprise rigid parts, for example the belt 31 on which the articulated arm 5 is fixed in the example of FIG. 1 as well as a dorsal part (not visible), and straps 32 configured to so as to distribute the weight of the articulated arm 5 and of the possible weight linked to a photovoltaic panel 9 fixed to the articulated arm 5 over the entire torso of the user. The straps 32 also allow the carrying harness 3 to be adjusted to the user's anatomy. The rigid parts of the carrying harness 3 are for example made of steel, aluminum or a rigid plastic material, for example reinforced with glass fiber or a composite material, in particular based on carbon.

[48] The articulated arm 5 is configured to be fixed to the carrying harness 3 at a first end 5a and comprises a gripping unit 7 of a photovoltaic panel at a second end 5b. In the case of the figure 1, the articulated arm 5 is fixed on the carrying harness 3 on a lateral part of the carrying harness 3 but other locations (ventral or dorsal) can also be chosen. In addition, the articulated arm 5 comprises a plurality of articulations or mechanical links to allow movement of the second end 5b of the articulated arm 5 (and therefore of a photovoltaic panel 9 when the latter is fixed to the gripping unit 7 ) relative to the first end 5a of the articulated arm 5 and therefore relative to the carrying harness 3.

[49] In particular, the articulated arm 5 is configured to allow the second end 5b of the articulated arm 5 to be able to extend on the one hand in a handling position as shown in FIG. 2 (in FIG. 2, the photovoltaic panel 9 is shown is transparency to show the elements of the exoskeleton 1 located behind the photovoltaic panel 9) and on the other hand in a carrying position as shown in Figure 3.

[50] In the handling position, the articulated arm 5 is configured to

extend in front of the user, that is to say in an anterior direction to accompany the arms of the user and allow the manipulation of a photovoltaic panel 9 when the latter is fixed to the articulated arm 5. In this position handling, the user can for example lift, turn over, orient or place a photovoltaic panel 9 using the articulated arm 5.

[51] In the carrying position, the articulated arm 5 extends (or is folded) in a posterior position to allow the positioning of the photovoltaic panel 9 parallel to the dorsal part of the carrying harness 3 so as to allow the carrying and the movement of a photovoltaic panel 9 while freeing the user's arms. In particular, this allows the user to be able to climb a ladder while carrying a photovoltaic panel 9.

[52] In this carrying position, the photovoltaic panel 9 may or may not be in contact with the dorsal part of the carrying harness 3. In addition, the carrying harness 3 can include elements such as pads or pads configured to be placed between the user's back and the panel

photovoltaic 9 (when the latter is in the carrying position) to avoid any friction or direct contact between the photovoltaic panel 9 and the user so as to ensure the comfort of the user when carrying. [53] To allow movement between the handling position and the carrying position, the articulated arm 5 comprises for example a plurality of first pivot links 50 whose axes of rotation are configured to extend substantially parallel to the rostro-caudal axis of the user to allow movement of the photovoltaic panel 9 relative to the user's torso and more precisely around the user. In the present case, the articulated arm comprises at least three pivot links 50.

[54] The articulated arm 5 also comprises joints which can be formed by second pivot links 51 in different directions and in particular in a direction substantially perpendicular to the rostrocaudal axis, that is to say in a direction substantially horizontal when the user is standing, so as to allow movement of the second end 5b of the articulated arm 5 and therefore of the photovoltaic panel 9 (when the latter is fixed to the articulated arm 5) along the rostro-caudal axis, this which allows the height of the photovoltaic panel 9 to be adjusted in particular with respect to the lower limbs of the user so as to allow the user to move without hindrance when the photovoltaic panel 9 is in the carrying position. These second pivot links 51 can be part of a deformable parallelogram structure 52 (then comprising four pivot links 51) configured to allow a variation in the height of the photovoltaic panel 9 while maintaining its orientation in the other directions. In the present case, the articulated arm 5 has two deformable parallelogram structures 52.

[55] These second pivot links 51 in particular allow the user to kneel down to fix the photovoltaic panel 9 to the articulated arm 5 as shown in FIG. 4. The user can then pass, in a second step, into a position upright (the photovoltaic panel 9 still resting on the ground). The user can then, in a third step, lift the photovoltaic panel 9 using the articulated arm 5 (while remaining upright) and then in a fourth step pass the photovoltaic panel 9 behind his back in the carrying position (cf. fig. 3). The passage from the handling position to the carrying position can be carried out either manually by the user using his arms or automatically if the articulated arm 5 is motorized. [56] Ball-and-socket type connections 53 can also be used in

combination or as an alternative to the pivot links 50 and 51. In particular, a ball joint 53 can be arranged at the level of the second end 5b to allow a plurality of possible orientations for the photovoltaic panel 9, in particular for its installation or its installation .

[57] The segments of the articulated arm 5 connecting the joints can therefore be formed by solid or perforated sections or by deformable parallelograms. In addition, at least some of the segments of the articulated arm 5 may have a curved shape so as to allow the articulated arm 5 to extend into the carrying position (in the event that the attachment of the first end of the articulated arm 5 to the carrying harness 3 is carried out at the level of a ventral part) and in the handling position (in the case where the fixing of the first end of the articulated arm 5 on the carrying harness 3 is carried out at the level of a part dorsal) without creating any discomfort for the user, the curvature of the articulated arm 5 substantially following the shape of the user's torso. This also makes it possible to limit the number of mechanical connections required for the articulated arm 5 to ensure acceptable comfort for the user, particularly in the carrying position. The curvature can also be in another direction, for example to facilitate the passage of the articulated arm 5 under the user's arm when changing from the position of

handling in the carrying position while limiting the number of joints.

[58] Exoskeleton 1 also includes arm locking means

articulated 5 in the carrying position to prevent any untimely displacement of the photovoltaic panel 9 relative to the harness 3 when carrying. These blocking means may be means for blocking the articulated arm 5 itself, that is to say means for blocking the mechanical connections of the articulated arm 5 and / or means for attaching to the carrying harness 3 of the second end 5b of the articulated arm 5 or of the photovoltaic panel 9 when the latter is in the carrying position, that is to say facing the dorsal part of the carrying harness 3 as shown in FIG. 3.

[59] These locking means can also be configured to fix the articulated arm 5 in another predefined position, in particular when the user puts in place or remove the carrying harness 3 to prevent the articulated arm 5 from hindering the user during these manipulations.

[60] Thus the locking means can correspond to a locking of the

connections (in particular the first and second pivot connections 50 and 51) or joints of the articulated arm 5 or to fixing means such as latching means, a closing hook or any other solution known from the state of the art for allow rapid and easy locking and unlocking between the articulated arm 5 or the photovoltaic panel 9 and the carrying harness 3. The locking means can also be partial locking means or include a partial locking position allowing movement of the second end 5b of the articulated arm 5 only in certain predetermined directions. For example, only certain links of the articulated arm 5 can be locked. This makes it possible, for example, to ensure that the photovoltaic panel 9 remains parallel to the dorsal part of the carrying harness 3 but to be able to vary the position of the photovoltaic panel 9 along the rostrocaudal axis, that is to say according to a substantially vertical direction when the user is in a standing position, when the locking means are partially locked. This freedom of movement along the rostro-caudal axis makes it possible to adjust the position of the photovoltaic panel 9 and in particular its height with respect to the lower limbs of the user to avoid hindering the user during his movements (while walking) by carrying a photovoltaic panel 9. This can also make it possible to limit the height of the photovoltaic panel 9 and therefore lower its center of gravity and limit its catch in the wind so as to limit the risks of unbalance of the user due to the panel

photovoltaic 9 especially when the user climbs on a roof exposed to the wind.

[61] The articulated arm 5 can be an isoelastic arm and can include

actuating means making it possible to assist the user in handling a photovoltaic panel 9. These actuating means are for example produced by one or more elastic elements 55 such as helical springs or elastic bands which are for example arranged between two joints of the articulated arm 5, in particular at the level of the deformable parallelograms 52 as shown in FIGS. 1 and 4. The elastic elements 55 are for example put under tension when the user moves the second end 5b of the articulated arm 5 in a predetermined direction, for example towards the ground. The elastic energy stored by the elastic element or elements 55 can then be used to move a photovoltaic panel 9 fixed on the second end 5b of the articulated arm 5 in a direction opposite to the predetermined direction, in the present example upwards, this which makes it possible to more easily lift a significant weight such as a photovoltaic panel 9. Such elastic elements can be arranged between each articulation or only between certain articulations.

[62] In addition, the actuating means may also include in

alternative or in combination with the elastic means, micromotors or actuators such as motorized jacks 56, as shown in FIG. 5, configured to modify the state of an articulation of the articulated arm 5 and thus motorized control of a movement of the articulated arm 5. These

Actuators 56 are for example arranged in the hollow segments of the articulated arm 5, in particular the segments with deformable parallelogram 52.

Only some of the joints of the articulated arm 5 or all of the articulations of the articulated arm 5 can comprise a motorized device. These motorized devices can be controlled automatically as a function of constraints applied by the user on the articulated arm 5. For example when the user applies a force in a predetermined direction of the articulated arm 5, the latter is then driven to move in the predetermined direction. For this, sensors or measuring means such as accelerometers or gyroscopes can be arranged at different locations of the articulated arm 5 and configured to transmit signals representative of the state of the exoskeleton 1 and in particular of the position of the articulated arm 5. These signals can be transmitted to processing means configured to control the actuators 56 or micromotors as a function of the signals transmitted by the sensors. In addition, such actuators 56 can also be disengageable so as to facilitate handling of the articulated arm 5 when there is no need to carry a photovoltaic panel 9, for example when fixing the articulated arm 5 to the photovoltaic panel. 9. [63] Alternatively, exoskeleton 1 can include an interface of

control such as a manual control allowing the user to operate the motorized device (s) of the articulated arm 5.

[64] The articulated arm 5 can also include stabilization means making it possible to ensure the stability of a photovoltaic panel 9 when the latter is handled. These stabilization means can be combined with the actuating means described above and include, for example, a set of elastic elements such as springs or elastic. The stabilization means can also comprise a set of sensors such as gyroscopes and / or accelerometers and associated actuators and processing means. The sensor-processing means-actuator assembly being configured to stabilize the photovoltaic panel 9 in a given position and / or according to the movements of the user and / or the stresses applied to the articulated arm 5 by the user. For example, in the event of user support on the articulated arm 5, the stabilization means are configured to limit the speed of movement of the articulated arm 5 in response to the support of the user.

[65] The exoskeleton 1 can also comprise an additional link, for example a link of the pivot or ball type 53 located at the level of the second end 5b of the articulated arm 5 so as to allow a pivoting of a photovoltaic panel 9 between a position vertical handling or transport and a horizontal position for picking up or removing the panel

photovoltaic 9 on the ground. The additional link can also take a plurality of intermediate positions between the vertical position and the horizontal position thus allowing the taking or removal of a photovoltaic panel 9 on an inclined plane such as a roof. This additional link can be arranged upstream of the gripping unit 7 or can form part of the gripping unit 7.

[66] The exoskeleton 1 can also include a telescopic part 54, in particular at the level of a segment adjacent to the second end 5b of the articulated arm 5 configured to extend and retract according to a command from the user. . The telescopic part 54 makes it possible to increase the length of the articulated arm 5 to allow the user to reach a photovoltaic panel 9 placed on the ground without having to bend over, which can be difficult or tedious when the user is wearing the exoskeleton 1, in particular in the case of a motorized exoskeleton, the weight of which can be significant. The length of the telescopic part 54 is therefore chosen so as to allow the articulated arm 5 to reach the ground when the user is in a standing position. The part

telescopic 54 is preferably motorized so as to allow easy lifting (or installation) of a photovoltaic panel 9 using the articulated arm 5. The displacement of the telescopic part 54 is for example ensured by an actuator such as an electric actuator arranged inside the telescopic part 54.

[67] Exoskeleton 1 may also include a winch device

15shown in figure 9 to allow lifting a panel

photovoltaic 9, which is for example arranged on the ground, and lift it up to the second end 5b of the articulated arm 5 in order to be able to fix it to the articulated arm 5. This winch device 15 can be integrated into the articulated arm 5, in this case the winch 15 can be placed close to the second end 5b of the arm 5 and can be configured to unwind and wind a cable with a length between 50cm and 1m, or can be associated as in the embodiment of the figure 9 to a bracket 17 attached to the carrying harness 3 and configured to extend above and in front of the user's head. The winch can then be placed at the level of the carrying harness 3. The jib crane 17 can then be rotatably mounted to facilitate the passage of a photovoltaic panel 9 in the carrying position behind the user. The bracket 17 may include a pulley at its end to guide the cable 18 associated with the winch 15 which then wraps around the pulley. In this case, the length of the cable can be between 2 and 3 meters.

[68] In both cases, the cable 18 can include a gripping unit at its end configured to be fixed to the photovoltaic panel 9 and allow it to be lifted. This gripping unit can be similar to the gripping unit 7 of the articulated arm 5. This gripping unit can also include at least one electromagnet configured to interact with a metal element of the photovoltaic panel or fixed to the photovoltaic panel such as than a metal plate. This gripping unit can also be a simple hook or a carabiner 19.

[69] Alternatively, the cable 18 may include means for fixing to the gripping unit 7 of the articulated arm 5 so that a single gripping unit 7 is used by the articulated arm 5 and the cable 18.

[70] The gripping unit 7 is preferably a removable gripping unit 7 which can be detached from the articulated arm 5 so that the exoskeleton 1 can include several gripping units 7 having different characteristics, the gripping unit 7 being for example chosen as a function of the characteristics of the photovoltaic panel 9 to be handled. In this case, the gripping unit 7 comprises, for example, connection means at the second end 5b of the articulated arm 5 such as latching means or any other connection means known to those skilled in the art and allowing a connection

strong enough to support the weight of the photovoltaic panel 9.

[71] According to a first embodiment shown in Figures 1 to 6, the gripping unit 7 comprises at least one suction cup 71 configured to be disposed on the photovoltaic panel 9. The size and number of suction cups used can be determined. depending on the size and weight of the photovoltaic panel 9. In the case where several suction cups are used, the different suction cups 71 can be connected to each other rigidly by a structure such as a rod or a set of rods. In this case, the gripping unit 7 comprises a single suction cup 71.

[72] The gripping unit 7 can also include one or more

handles 72 (two in this case) to allow the user to be able to easily orient the gripping unit 7 to position the suction cup 71 on the photovoltaic panel 9 on the one hand and to orient the panel

photovoltaic 9 when the latter is attached to the gripping unit 7 on the other hand.

[73] According to a second embodiment shown in Figure 8, the gripping unit 7 comprises clamps or jaws 73 configured to come to be fixed on a wafer of the photovoltaic panel 9. The jaw 73 is for example formed by an element U-shaped, the two parallel walls of which are positioned respectively against a first face and a second face opposite to the first face of the photovoltaic panel 9, the wall of the U-shaped element connecting the two parallel walls facing or in contact with a slice of the photovoltaic panel 9. The jaws 73 can be distributed around the photovoltaic panel 9 so that two jaws are arranged on opposite edges of the panel

photovoltaic 9. The number of jaws used can be determined as a function of the size and weight of the photovoltaic panel 9 to be handled, four in this case. The different jaws 73 can be connected to a central support 74 configured to be arranged in the center of the panel

photovoltaic 9 and allow attachment with the end 5b of the articulated arm 5. The connection between the jaws 73 and the central support 74 is for example made by straps 75 adjustable in length. The connection between the central support 74 and the part of the gripping unit 7 fixed on the articulated arm 5 is for example made by latching means or any other means known to those skilled in the art allowing rapid and reliable attachment. .

[74] In addition, the width of the jaws 73 can be adjustable so as to

allow adaptation to photovoltaic panels 9 of different widths.

[75] Preferably, the internal face of the jaws is covered with a flexible coating, for example rubber, so as to avoid any degradation of the photovoltaic panel 9. The flexible material can be relatively thick and compressible to allow good grip. the jaw on the photovoltaic panel 9.

[76] The exoskeleton 1 can also include a counterweight to allow greater stability for the user when a photovoltaic panel is fixed to the articulated arm 5. The counterweight can be fixed for example on the belt 31 on the side opposite to the first end 5a of the articulated arm 5 or may be a movable counterweight configured to be moved according to the position of the articulated arm 5. For example, the counterweight can be configured to be moved between a posterior position when the articulated arm 5 extends in an anterior position and in an anterior position when the articulated arm 5 extends or is folded in the posterior position. The counterweight can be produced by the batteries of the exoskeleton 1 in the case of a motorized exoskeleton 1. [77] According to another embodiment shown in Figure 6, the exoskeleton 1 also comprises a complementary articulated module 11 configured to be connected to the carrying harness 3 and to extend at least partially along a lower limb of the user. In the case of Figure 6, the additional articulated module 11 extends over the entire leg of the user. The complementary articulated module 11 comprises at least one articulation 110 produced for example by a pivot connection. In the example of FIG. 6, the complementary articulated module 11 comprises three joints 110 located at the level of the hip, the knee and the ankle of the user. The complementary articulated module 11 is configured to assist the user during his

handling or carrying movements of the photovoltaic panel 9. The complementary articulated module 11 is for example fixed to the carrying harness 3 at the level of the belt 31 which is a rigid part of the carrying harness 3, here at the level of a dorsal part belt 31 not visible. The complementary articulated module 11 can be an isoelastic module comprising elastic elements which are for example compressed when the user bends the leg, for example to pass into the kneeling position as shown in FIG. 6. The stored elastic energy then being used for allow the user to stand up more easily despite the weight of the photovoltaic panel 9.

[78] According to an alternative embodiment, the complementary articulated module 11 is a motorized module comprising actuators such as motorized jacks to assist the user in particular to allow him to move from a kneeling or squatting position to a standing position while carrying a photovoltaic panel 9 via the articulated arm 5. The actuators are for example controlled by a manual control or are configured to react to the movements of the user. Thus, the complementary articulated module 11 can also, like the articulated arm 5, comprise sensors and processing means associated with the actuator (s). Preferably, the processing means are the same as the processing means of the articulated arm 5 or are configured to communicate with the processing means of the articulated arm 5 so as to allow synergy between the complementary articulated module 11 and the articulated arm 5 and ensure the stability of the user and the exoskeleton when moving from a low position (squatting or kneeling) to a high position (standing) or vice versa. The complementary articulated module 11 can comprise its own battery (s) or can use a common battery with the articulated arm 5 which can be placed anywhere on the exoskeleton 1.

[79] In addition, when the user is in a standing position and in particular when moving while walking, the complementary articulated module 11 is configured to redirect the load of the exoskeleton 1 and of the photovoltaic panel 9 towards the ground in a manner to reduce the stresses on the back and the hips of the user linked to the carrying of the photovoltaic panel 9. The complementary articulated module 11 thus makes it possible to relieve the user and to limit the risk of injuries related to the handling and the carrying of the panel photovoltaic 9.

[80] Alternatively, the additional articulated module 11 can also be independent of the carrying harness 3, that is to say not attached to the carrying harness 3 and with an independent control.

[81] The exoskeleton can of course include two articulated modules

complementary 11 configured to be arranged respectively on the two legs of the user.

[82] Exoskeleton 1 may also include an assistive device

configured to transmit to the user information related to the handling and transport of the photovoltaic panels 9. The assistance device comprises for example a display system 13, as represented in FIG. 7, such as augmented reality glasses allowing to visualize information such as the shortest route to go to the installation site of the photovoltaic panel or safety instructions, on the tasks to be performed by the operator, on meteorological information, in particular the wind speed, or any other useful information. This information can also be transmitted acoustically, in particular via an earpiece 130 or a loudspeaker attached to the carrying harness 3 or both visually and acoustically, in particular via an earpiece 130 attached to the display system 13. L The earpiece 130 can advantageously be replaced by a bone conduction device making it possible to transmit an acoustic signal to the user while leaving the ear free to hear the surrounding sounds. In addition, the exoskeleton 1 can also include one or more cameras associated with the viewing system 13 to allow the user to have different views of its environment. A camera can for example be placed on the photovoltaic panel 9 to allow vision in a posterior direction, in particular when the articulated arm 5 is in the carrying position.

[83] Thus, an exoskeleton 1 as described above allows a user or an operator to be able to handle alone a photovoltaic panel whose weight exceeds 20 kilograms and thus reduce the labor required for the installation of such a panel. photovoltaic, for example on a roof of a building or a house. In particular, the use of an articulated arm 5 configured to move from an anterior position in which the articulated arm 5 extends in front of the user to allow the gripping and manipulation of a photovoltaic panel 9 to a posterior position in which the photovoltaic panel is arranged opposite or against the back of the user and allowing easy movement of the user while freeing his arms and the front space.

[84] [The present invention also relates to an assembly 200 comprising an exoskeleton 1 as described above and a charging station 201 of ('exoskeleton 1 comprising a support for the exoskeleton and a charging unit 203 for the exoskeleton 1. The support is configured to be adjustable in height so as to allow a user to adjust the height of the support according to their size. Thus, the user can come and place the exoskeleton 1 on the support with their back to the support. to then be able to detach from the 3 Jet carrying harness, possibly from the additional articulated module 11.

[85] The charging unit 203 is configured to allow one or more rechargeable batteries of the exoskeleton 1 to be recharged allowing energy to be supplied to the jacks or to the motors of the articulated arm 5, to the motor of the winch device or to the motor. motor of the complementary articulated module 11 for example. The charging unit 203 may include one or more connection cables 205 intended to be plugged into a socket located on the exoskeleton 1.

Alternatively, recharging can be done by wireless charging means known to the state of the art.

[86] Thus, between two uses, the exoskeleton 1 can be placed on the support of the charging station 201 in order to be able to be recharged. In addition, the support adjustable in height facilitates the installation of the exoskeleton 1 on the user as well as the removal of the exoskeleton 1 which allows a user to be able to use the exoskeleton 1 without requiring the presence of a second person for help.

Claims

[Claim 1] Exoskeleton (1) for carrying and handling photovoltaic panels (9) comprising:

- a carrying harness (3) configured to be positioned on the torso of a user,

- an articulated arm (5) fixed to the carrying harness (3) at a first end (5a) and comprising a gripping unit (7) of a photovoltaic panel (9) at a second end (5b), the articulated arm (5) comprising a plurality of pivot links (50) whose axes of rotation are configured to extend substantially parallel to the rostro-caudal axis of the user to allow the movement of the photovoltaic panel (9 ) relative to the user's torso,

wherein the articulated arm (5) is movable between a handling position in which the articulated arm (5) extends in an anterior direction to accompany an arm of the user and allow the handling of the photovoltaic panel (9) and a carrying position in which the articulated arm (5) is folded into a posterior position to allow the positioning of the photovoltaic panel (9) parallel to the dorsal part of the carrying harness (3) and in that the exoskeleton (1) comprises means for locking the articulated arm (5) in the carrying position.

[Claim 2] An exoskeleton (1) according to claim 1 wherein the articulated arm (5) is an isoelastic arm.

[Claim 3] An exoskeleton (1) according to claim 2 comprising at least one micromotor configured to drive in rotation a joint of the articulated arm (5).

[Claim 4] An exoskeleton (1) according to one of the preceding claims wherein the articulated arm (5) comprises actuators such as motorized jacks.

[Claim 5] Exoskeleton (1) according to one of the preceding claims comprising a pivot or ball joint (53) at the second end (5b) of the articulated arm (5) so as to allow pivoting of a photovoltaic panel (9) between a vertical position of handling or transport and a horizontal position for picking up or setting down the photovoltaic panel (9) on the ground via intermediate positions allowing picking up or setting down on an inclined plane such as a roof.

[Claim 6] An exoskeleton (1) according to one of the preceding claims wherein the gripping unit (7) is removable and is fixed to the articulated arm (5) via fixing means so that different gripping units (7 ) can be attached to the articulated arm, for example depending on the characteristics of the photovoltaic panel (9) to be handled.

[Claim 7] An exoskeleton (1) according to one of the preceding claims wherein the gripping unit (7) comprises at least one suction cup (71).

[Claim 8] Exoskeleton (1) according to one of the preceding claims wherein the gripping unit (7) comprises at least a first jaw configured to come to be positioned around a first slice of a photovoltaic panel (9) and a second jaw configured to be positioned around a second slice of the panel

photovoltaic (9) opposite to the first section.

[Claim 9] An exoskeleton (1) according to one of the preceding claims wherein the articulated arm (5) comprises a telescopic part (54) configured to translate the second end (5b) of the articulated arm (5) relative to the first end (5a) of the articulated arm (5) so as to allow the gripping of a photovoltaic panel (5) placed on the ground via the gripping unit (7).

[Claim 10] An exoskeleton (1) according to one of claims 1 to 8 also comprising a cable winch and a bracket comprising an end portion configured to come to be positioned above and in front of the head of a user of the machine. 'exoskeleton (1), said bracket comprising a pulley at the level of its end part around which the cable is wound, said cable being configured to be connected to a unit for gripping the photovoltaic panels so as to allow the lifting or the removal of a photovoltaic panel (9) on the ground.

[Claim 11] An exoskeleton (1) according to one of the preceding claims wherein the articulated arm (5) is configured to be able to move the photovoltaic panel (9) in a rostro-caudal direction when the articulated arm (5) is in the carrying position so as to be able to adjust the position of the photovoltaic panel (9) relative to the lower limbs of the user.

[Claim 12] Exoskeleton (1) according to one of the preceding claims wherein the articulated arm (5) comprises at least one curved segment so as to allow the arm to extend around the torso of the user when the articulated arm is in the carrying position.

[Claim 13] Exoskeleton (1) according to one of the preceding claims comprising means for stabilizing the photovoltaic panel (9) during a movement of the user of the exoskeleton (1), for example springs configured to stabilize the position of the photovoltaic panel (9).

[Claim 14] An exoskeleton (1) according to claim 13 wherein the stabilizing means comprises:

- a plurality of sensors configured to transmit signals depending on the state of the exoskeleton (1),

- actuators configured to modify the state of a joint of the articulated arm

(5),

[Claim 15] Exoskeleton (1) according to one of the preceding claims also comprising an additional articulated module (11) configured to be connected to the carrying harness (3) and to extend at least partially along a lower limb of the user, said complementary articulated module (11) being configured to assist the user during his movements of handling or carrying the photovoltaic panel (9).

[Claim 16] An exoskeleton (1) according to claim 15 wherein the complementary articulated module is an isoelastic module.

[Claim 17] An exoskeleton (1) according to claim 15 or 16 wherein the complementary articulated module (11) comprises at least one actuator such as a motorized cylinder.

[Claim 18] An exoskeleton (1) according to one of the preceding claims also comprising at least one movable counterweight configured to be moved from a posterior position when the articulated arm is in a position. handling position in a previous position when the articulated arm (5) is in a carrying position.

[Claim 19] An exoskeleton (1) according to one of the preceding claims also comprising an assistance device configured to transmit to the user information related to the handling and transport of the photovoltaic panels (9).

[Claim 20] An exoskeleton (1) according to the preceding claim in which the assistance device comprises a visualization system such as augmented reality glasses.

[Claim 21] An assembly comprising an exoskeleton (1) according to one of the preceding claims and a charging station (201) comprising a support for the exoskeleton (1) and a charging unit (203) for the exoskeleton (1). ) in which the exoskeleton (1) comprises at least one rechargeable battery and in which the support of the exoskeleton (1) is adjustable in height so as to allow a user to adjust the height of the support according to its size and the charging unit (203) being configured to recharge] the at least one rechargeable battery}.]