A spatial foldable structure based on origami and paper cutting techniques and its modular application

Abstract

The present invention belongs to the field of spatial foldable technology, and specifically relates to a spatial foldable structure based on origami and paper cutting technology and its modular application. The technical solution of the present invention is as follows: A spatial foldable structure based on origami and paper cutting technology includes a plurality of connected plates, which are connected by mountain folds and valley folds and are provided with a shear cut. The structure can be tightly folded without interference; the structure can be modularly connected as a modular unit. The spatial foldable structure based on origami and paper cutting technology provided by the present invention and its modular application have a single degree of freedom, can be tightly folded, and can be unfolded in two dimensions at the same time; it can ensure that it can be folded flat, and has the advantages of high folding and unfolding ratio, simple control, modularity, etc.

Description

Technical Field

[0001] The present invention belongs to the technical field of spatial foldable structures, and in particular relates to a spatial foldable structure based on origami and paper cutting techniques and its modular application. Background Art

[0002] Origami, as a spatial configuration, possesses the ability to fold and unfold. In its folded and contracted state, it is easy to transport, yet can be unfolded to its operational state when needed. During this process, origami structures exhibit numerous unique properties, leading to their widespread application in aerospace, civil engineering, robotics, metamaterials, biomedical engineering, architectural design, and other fields.

[0003] Yoshizawa-Randlet developed origami symbols that could represent fold patterns and folding steps. Mathematicians such as Fujita Fumihiro and Hatori Koshiro established the seven basic theories of origami. During the development of origami, many classic models were proposed, including Miura Origami, Waterbomb, Flasher, Inner Leaf Origami, and Outer Leaf Origami. In 1995, Miura Origami successfully applied the thin-film solar array (2DSA) of the Space Flyer Unit to the 2-dimensional Solar Array. Since then, origami has been increasingly used in practical engineering.

[0004] In terms of the number of folds at a certain vertex, traditional origami models often use four, five, or six folds. Among them, when origami is made with zero thickness, its equivalent mechanism is a spherical mechanism, with one degree of freedom for four folds, two degrees of freedom for five folds, and three degrees of freedom for six folds. Folding diagrams with five and six folds are often not single-degree-of-freedom. Therefore, in actual engineering, it is necessary to add bosses to the rigid plates with thickness to make them equivalent to single-degree-of-freedom Bennett mechanisms, Mayard mechanisms, and Bricard mechanisms. However, the bosses will cause the plate surface to be uneven, affecting actual use. Traditional Z-shaped origami can only be unfolded in one dimension, not in two dimensions. Traditional origami models often do not introduce paper cutting technology, resulting in some origami models being unable to be rigidly folded. Summary of the Invention

[0005] The present invention provides a spatial foldable structure based on origami and paper cutting technology and its modular application, which has a single degree of freedom, can be tightly folded, and can be unfolded in two dimensions at the same time; it can ensure that it can be folded flat, and has the advantages of high folding and unfolding ratio, simple control, modularity, etc.

[0006] The technical solutions of the present invention are as follows:

[0007] A spatial foldable structure based on origami and paper cutting technology, comprising a plurality of connected plates, plates G1H1I1F1F 12、Board G3H1I1F3F 32 、Board G2H2I2F2F 22 、Board G4H2I2F4F 42 For congruent pentagons, plate F1F 12 E1E2F 22 F2, board F3F 32 E3E4F 42 F4 is a congruent hexagon, plate B1A1G1F 12 、Board B1C1E1F 12 、Board B2A2G2F 22 、Board B2C2E2F 22 、Board B3A3G3F 32 、Board B3C3E3F 32 、Board B4A4G4F 42 、Board B4C4E4F 42 are congruent right trapezoids, plates OF1F2 and OF3F4 are congruent isosceles right triangles, plates OF1I1, OF3I1, OF2I2, and OF4I2 are congruent isosceles right triangles;

[0008] Board B1A1G1F 12 With board B1C1E1F 12 Via Mountain Crease B1F 12 Connection, board B1A1G1F 12 With board G1H1I1F1F 12 Pass Valley Crease G1F 12 Connection, board G1H1I1F1F 12 With board G3H1I1F3F 32 Connect via mountain crease H1I1, plate G3H1I1F3F 32 With board B3A3G3F 32 G3F through the valley crease 32 Connection, board B3A3G3F 32 With board B3C3E3F 32 Pass Mountain Crease B3F 32 Connection, board B3C3E3F 32 with board F3F 32 E3E4F 42 F4 through valley crease E3F 32 Connection, Board F3F 32 E3E4F 42 F4 and plate B4C4E4F 42 Via Valley Crease E4F 42 Connection, board B4C4E4F 42 With board B4A4G4F 42 Through the mountain crease B4F 42Connection, board B4A4G4F 42 with board G4H2I2F4F 42 G4F by Valley Crease 42 Connection, board G4H2I2F4F 42 With board G2H2I2F2F 22 Connect via mountain crease H2I2, plate G2H2I2F2F 22 With board B2A2G2F 22 G2F via Valley Crease 22 Connection, board B2A2G2F 22 with board B2C2E2F 22 Pass Mountain Crease B2F 22 Connection, board B2C2E2F 22 with board F1F 12 E1E2F 22 F2 through valley crease E2F 22 Connection, Board F1F 12 E1E2F 22 F2 and board B1C1E1F 12 Via Valley Crease E1F 12 Connection, Board F1F 12 E1E2F 22 F2 and board G1H1I1F1F 12 Pass Valley Crease F1F 12 Connection, Board F1F 12 E1E2F 22 F2 and board G2H2I2F2F 22 F2F via Valley Crease 22 Connection, Board F1F 12 E1E2F 22 F2 is connected to plate OF1F2 through valley fold F1F2, and plate F3F 32 E3E4F 42 F4 and board G3H1I1F3F 32 Through the Valley Crease F3F 32 Connection, Board F3F 32 E3E4F 42 F4 and board G4H2I2F4F 42 F4F through the valley crease 42 Connection, Board F3F 32 E3E4F 42 F4 is connected to plate OF3F4 through valley fold F3F4, plate G1H1I1F1F 12 Connected to plate OF1I1 via valley fold F1I1, plate G3H1I1F3F 32 Connected to plate OF3I1 through valley fold F3I1, plate G2H2I2F2F 22Connected to board OF2I2 via valley fold F2I2, board G4H2I2F4F 42 Plate OF4I2 is connected to plate OF1F2 via valley fold F4I2, plate OF1F2 is connected to plate OF1I1 via mountain fold OF1, plate OF1F2 is connected to plate OF2I2 via mountain fold OF2, plate OF3F4 is connected to plate OF3I1 via mountain fold OF3, and plate OF3F4 is connected to plate OF4I2 via mountain fold OF4;

[0009] There is no connection between the board OF1I1 and the board OF3I1, and between the board OF2I2 and the board OF4I2, forming a shear cut I1OI2;

[0010] The fully unfolded shape is polygon A1B1C1C2B2A2A4B4C4C3B3A3. A1A3 and C1C2 intersect at point D1, C1C2 and A2A4 intersect at point D2, A2A4 and C3C4 intersect at point D4, A1A3 and C3C4 intersect at point D3, D1D2D4D3 are connected to form a large square, A1B1C1D1, A2B2C2D2, A3B3C3D3, A4B4C4D4 are connected to form a small square; the fully folded shape is F1F 12 E1E2F 22 F2 or F3F 32 E3E4F 42 F4.

[0011] Furthermore, in the spatially foldable structure based on origami and paper cutting techniques, the angles formed between adjacent folds are only 45°, 90° or 135°.

[0012] Furthermore, for the spatially foldable structure based on origami and paper cutting techniques, the ratio of the maximum area of ​​the fully unfolded shape to the maximum area of ​​the fully folded shape is the folding rate of the spatially foldable structure.

[0013] Furthermore, the spatial foldable structure based on origami and paper cutting technology has a large square boundary length of L, F1F 12 、F2F 22 、F3F 32 、F4F 42 The length of the projection on the boundary of the large square is L1; the lengths of the sides conform to the following formula:

[0014] D1D2=D2D4=D4D3=D3D1=L

[0015] A1B1=C1B1=A2B2=C2B2=A3B3=C3B3=A4B4=C4B4=L / 6-2L1

[0016] A1G1=G1H1=H1G3=G3A3=L / 6+L1

[0017] A2G2=G2H2=H2G4=G4A4=L / 6+L1

[0018] C1E1=E2C2=C3E3=E4C4=L / 6+L1

[0019] E1E2=E3E4=L / 3+2L1

[0020] F1I1=F3I1=F4I2=F2I2=L / 6

[0021] F1F2=F3F4=H1I1=H2I2=L / 3

[0022]

[0023] G1F 12 =G2F 22 =G3F 32 =G4F 42 =E1F 12 =E2F 22 =E3F 32 =E4F 42 =L / 3-L1

[0024]

[0025]

[0026] Furthermore, the spatial foldable structure based on origami and paper cutting technology has a value range of L1 of 0 to L / 12; point F 12 、F 22 、F 32 、F 42 Move synchronously along B1F1, B2F2, B3F3, and B4F4 respectively; correspondingly, points E1, G1, E2, G2, E3, G3, E4, and G4 move synchronously along the boundary of the large square, while maintaining ∠E1F 12 G1, ∠E2F 22 G2, ∠E3F 32 G3, ∠E4F 42 G4 is a right angle.

[0027] Furthermore, the spatial foldable structure based on origami and paper cutting technology, when L1=0, point F 12 、F 22 、F 32 、F 42 They coincide with points F1, F2, F3, and F4 respectively, and the folding rate of the spatial foldable structure reaches a maximum value of 8.00.

[0028] Furthermore, for the spatial foldable structure based on origami and paper cutting technology, when L1 = L / 12, A1, B1, C1, and D1 intersect at one point, A2, B2, C2, and D2 intersect at one point, A3, B3, C3, and D3 intersect at one point, and A4, B4, C4, and D4 intersect at one point, the folding rate of the spatial foldable structure reaches a minimum value of 6.26.

[0029] In the modular application of the above-mentioned spatially foldable structure based on origami and paper cutting techniques, the spatially foldable structure is used as a module unit 1, and two or more module units 1 are horizontally connected.

[0030] The modular application of the above-mentioned spatial foldable structure based on origami and paper cutting technology combines two spatial foldable structures with a folding ratio of 6.26 into a module unit 2, and two or more module units 2 are horizontally connected.

[0031] Furthermore, the modular application of the spatial foldable structure based on origami and paper cutting technology, the module unit 2 includes the spatial foldable structure 1 and the spatial foldable structure 2, the board F of the spatial foldable structure 1 is 22 A2G2 and Plate F of Spatial Foldable Structure II 12 A1G1 is connected to form a continuous plate 1, and the plate I2F2F of the spatially foldable structure 1 22 G2H2 and the plate I1F1F of the spatially foldable structure II 12 G1H1 is connected to form continuous plate 2, and plate I2F4F of spatially foldable structure 1 42 G4H2 and the plate I1F3F of the spatially foldable structure II 32 G3H1 is connected to form continuous plate three, and plate F of spatially foldable structure one 42 A4G4 and Plate F of Spatial Foldable Structure II 32 A3G3 is connected to form continuous plate four; the creases between continuous plate one, continuous plate two, continuous plate three and continuous plate four all become continuous creases.

[0032] The beneficial effects of the present invention are:

[0033] 1. The present invention introduces a shear cut, which transforms the structure that cannot be rigidly folded into a structure that can be rigidly folded flat.

[0034] 2. Traditional origami often uses five or six folds. When folding thick plates, it is often necessary to add bosses to avoid interference and it is a single degree of freedom, which will cause the plate surface to be uneven, affecting the actual use accuracy. The present invention only uses four folds. In a single module with a folding rate of [6.26,8.00) and its modularization, even when there is a thickness rigid fold, no additional bosses are required. Only B1F 12 、B2F22 、B3F 32 , B4F 42 The flatness of the panel can be ensured by changing the four valley creases into shear creases, and its degree of freedom is single.

[0035] 3. The present invention is modularizable and has a high folding / expanding ratio. The folding / expanding ratio of a single module can reach 6.26-8.00, and it can be expanded two-dimensionally. Furthermore, modular connections can be made, with a folding / expanding ratio of 12.52-16.00.

[0036] 4. Traditional Z-shaped origami can only be folded and unfolded in one dimension, not in two dimensions. The present invention, when modularized and single-module, has a single degree of freedom, while also being able to unfold in two dimensions. At a folding / expansion ratio of 8.00, in the fully folded state, the ratio of its folded volume to the sheet volume equals 1, enabling multi-point actuation and two-dimensional unfolding.

[0037] 5. The present invention can change the appearance of the structure to be fully folded and fully unfolded to meet different needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 A schematic diagram of the fully unfolded shape of the spatial foldable structure based on origami and paper cutting techniques in Example 1;

[0039] Figure 2 Schematic diagram of a semi-expanded state of the spatial foldable structure based on origami and paper cutting techniques in Example 1;

[0040] Figure 3 A schematic diagram of the fully folded shape of the spatial foldable structure based on origami and paper cutting techniques in Example 1;

[0041] Figure 4 This is a schematic diagram of the fully unfolded shape of the spatially foldable structure with a folding ratio of 8.00 in Example 2;

[0042] Figure 5 This is a schematic diagram of a semi-expanded state of the spatially foldable structure with an expansion ratio of 8.00 in Example 2;

[0043] Figure 6 This is a schematic diagram of the fully folded shape of the spatially foldable structure with a folding ratio of 8.00 in Example 2;

[0044] Figure 7 This is a schematic diagram of the fully unfolded shape of the spatially foldable structure with a folding ratio of 6.26 in Example 3;

[0045] Figure 8 This is a schematic diagram of a semi-expanded state of the spatially foldable structure with an expansion ratio of 6.26 in Example 3;

[0046] Figure 9 This is a schematic diagram of the fully expanded shape of two connected modular units in Example 4;

[0047] Figure 10 This is a schematic diagram of a semi-expanded state in which two module units are connected in Example 4;

[0048] Figure 11 This is a schematic diagram of module unit 2 in Example 5;

[0049] Figure 12 This is a schematic diagram of the fully expanded shape of two connected modular units 2 in Example 5;

[0050] Figure 13 This is a schematic diagram of a semi-expanded state in which two module units 2 are connected in Example 5;

[0051] Figure 14 This is a schematic diagram of the fully folded shape of two connected modular units in Example 5;

[0052] Figure 15 This is a schematic diagram of the fully unfolded shape of the spatially foldable structure with a special-shaped boundary in Example 6;

[0053] Figure 16 This is a schematic diagram of the shape of the spatially foldable structure with a circular boundary in Example 6 when it is fully unfolded. DETAILED DESCRIPTION

[0054] Example 1

[0055] like Figure 1-3 As shown, a spatial foldable structure based on origami and paper cutting technology includes multiple connected plates, plates G1H1I1F1F 12 、Board G3H1I1F3F 32 、Board G2H2I2F2F 22 、Board G4H2I2F4F 42 For congruent pentagons, plate F1F 12 E1E2F 22 F2, board F3F 32 E3E4F 42 F4 is a congruent hexagon, plate B1A1G1F 12 、Board B1C1E1F 12 、Board B2A2G2F 22 、Board B2C2E2F 22 、Board B3A3G3F 32 、Board B3C3E3F 32 、Board B4A4G4F 42 、Board B4C4E4F 42are congruent right trapezoids, plates OF1F2 and OF3F4 are congruent isosceles right triangles, plates OF1I1, OF3I1, OF2I2, and OF4I2 are congruent isosceles right triangles;

[0056] Board B1A1G1F 12 With board B1C1E1F 12 Via Mountain Crease B1F 12 Connection, board B1A1G1F 12 With board G1H1I1F1F 12 Pass Valley Crease G1F 12 Connection, board G1H1I1F1F 12 With board G3H1I1F3F 32 Connect via mountain crease H1I1, plate G3H1I1F3F 32 With board B3A3G3F 32 G3F through the valley crease 32 Connection, board B3A3G3F 32 With board B3C3E3F 32 Pass Mountain Crease B3F 32 Connection, board B3C3E3F 32 with board F3F 32 E3E4F 42 F4 through valley crease E3F 32 Connection, Board F3F 32 E3E4F 42 F4 and plate B4C4E4F 42 Via Valley Crease E4F 42 Connection, board B4C4E4F 42 With board B4A4G4F 42 Through the mountain crease B4F 42 Connection, board B4A4G4F 42 with board G4H2I2F4F 42 G4F by Valley Crease 42 Connection, board G4H2I2F4F 42 With board G2H2I2F2F 22 Connect via mountain crease H2I2, plate G2H2I2F2F 22 With board B2A2G2F 22 G2F via Valley Crease 22 Connection, board B2A2G2F 22 with board B2C2E2F 22 Pass Mountain Crease B2F 22 Connection, board B2C2E2F 22 with board F1F 12 E1E2F 22 F2 through valley crease E2F22 Connection, Board F1F 12 E1E2F 22 F2 and board B1C1E1F 12 Via Valley Crease E1F 12 Connection, Board F1F 12 E1E2F 22 F2 and board G1H1I1F1F 12 Pass Valley Crease F1F 12 Connection, Board F1F 12 E1E2F 22 F2 and board G2H2I2F2F 22 F2F via Valley Crease 22 Connection, Board F1F 12 E1E2F 22 F2 is connected to plate OF1F2 through valley fold F1F2, and plate F3F 32 E3E4F 42 F4 and board G3H1I1F3F 32 Through the Valley Crease F3F 32 Connection, Board F3F 32 E3E4F 42 F4 and board G4H2I2F4F 42 F4F through the valley crease 42 Connection, Board F3F 32 E3E4F 42 F4 is connected to plate OF3F4 through valley fold F3F4, plate G1H1I1F1F 12 Connected to plate OF1I1 via valley fold F1I1, plate G3H1I1F3F 32 Connected to plate OF3I1 through valley fold F3I1, plate G2H2I2F2F 22 Connected to board OF2I2 via valley fold F2I2, board G4H2I2F4F 42 Plate OF4I2 is connected to plate OF1F2 via valley fold F4I2, plate OF1F2 is connected to plate OF1I1 via mountain fold OF1, plate OF1F2 is connected to plate OF2I2 via mountain fold OF2, plate OF3F4 is connected to plate OF3I1 via mountain fold OF3, and plate OF3F4 is connected to plate OF4I2 via mountain fold OF4;

[0057] There is no connection between the board OF1I1 and the board OF3I1, and between the board OF2I2 and the board OF4I2, forming a shear cut I1OI2;

[0058] like Figure 1As shown, the fully expanded shape is the polygon A1B1C1C2B2A2A4B4C4C3B3A3, A1A3 and C1C2 intersect at point D1, C1C2 and A2A4 intersect at point D2, A2A4 and C3C4 intersect at point D4, A1A3 and C3C4 intersect at point D3, D1D2D4D3 are connected to form a large square, A1B1C1D1, A2B2C2D2, A3B3C3D3, A4B4C4D4 are connected to form a small square; Figure 3 As shown, the fully folded shape is F1F 12 E1E2F 22 F2 or F3F 32 E3E4F 42 F4.

[0059] The angles formed between adjacent folds are only 45°, 90° or 135°.

[0060] The ratio of the maximum area of ​​the fully unfolded shape of the spatially foldable structure to the maximum area of ​​the fully folded shape is the folding rate of the spatially foldable structure.

[0061] The border length of the large square is L, F1F 12 、F2F 22 、F3F 32 、F4F 42 The length of the projection on the boundary of the large square is L1; the lengths of the sides conform to the following formula:

[0062] D1D2=D2D4=D4D3=D3D1=L

[0063] A1B1=C1B1=A2B2=C2B2=A3B3=C3B3=A4B4=C4B4=L / 6-2L1

[0064] A1G1=G1H1=H1G3=G3A3=L / 6+L1

[0065] A2G2=G2H2=H2G4=G4A4=L / 6+L1

[0066] C1E1=E2C2=C3E3=E4C4=L / 6+L1

[0067] E1E2=E3E4=L / 3+2L1

[0068] F1I1=F3I1=F4I2=F2I2=L / 6

[0069] F1F2=F3F4=H1I1=H2I2=L / 3

[0070]

[0071] G1F 12 =G2F 22 =G3F 32 =G4F 42 =E1F 12 =E2F 22 =E3F 32 =E4F 42 =L / 3-L1

[0072]

[0073]

[0074] This ensures that the plates are tightly folded and do not interfere with each other.

[0075] The value range of L1 is 0~L / 12; point F 12 、F 22 、F 32 、F 42 Move synchronously along B1F1, B2F2, B3F3, and B4F4 respectively; correspondingly, points E1, G1, E2, G2, E3, G3, E4, and G4 move synchronously along the boundary of the large square, while maintaining ∠E1F 12 G1, ∠E2F 22 G2, ∠E3F 32 G3, ∠E4F 42 G4 is a right angle.

[0076] Example 2

[0077] like Figure 4-6 As shown, the spatial foldable structure based on origami and paper cutting technology, when L1 = 0, point F 12 、F 22 、F 32 、F 42 They coincide with points F1, F2, F3, and F4 respectively, and the folding rate of the spatial foldable structure is 8.00.

[0078] Example 3

[0079] like Figure 7 、 8 As shown in the figure, the spatial foldable structure based on origami and paper cutting technology, when L1 = L / 12, A1, B1, C1, D1 intersect at a point N1, A2, B2, C2, D2 intersect at a point N2, A3, B3, C3, D3 intersect at a point N3, A4, B4, C4, D4 intersect at a point N4, the entire structure boundary becomes a complete square, the folding ratio of the spatial foldable structure is 6.26. Its fully folded shape is the same as Figure 3 resemblance.

[0080] Example 4

[0081] like Figure 9 、 10 As shown, the spatially foldable structure in Example 1 is used as module unit 1, and two module units 1 are connected horizontally.

[0082] Example 5

[0083] like Figure 11 As shown, the spatial foldable structure with a folding rate of 6.26 in Example 3 is combined into a module unit 2, which includes the spatial foldable structure 1 and the spatial foldable structure 2. The plate F of the spatial foldable structure 1 is 22 A2G2 and Plate F of Spatial Foldable Structure II 12 A1G1 is connected to form a continuous plate 1, and the plate of the spatially foldable structure 1 is I2F2F 22 G2H2 and the plate I1F1F of the spatially foldable structure II 12 G1H1 is connected to form a continuous plate 2, and the plate I2F4F of the spatially foldable structure 1 42 G4H2 and the plate I1F3F of the spatially foldable structure II 32 G3H1 is connected to form continuous plate three 3, and the plate F of the spatial foldable structure one 42 A4G4 and Plate F of Spatial Foldable Structure II 32 A3G3 are connected to form a continuous plate four 4; the creases between the continuous plate one 1, the continuous plate two 2, the continuous plate three 3 and the continuous plate four 4 all become continuous creases.

[0084] like Figure 12-14 As shown, the two module units 2 are connected horizontally.

[0085] Example 6

[0086] The present invention can change the appearance of the fully folded and fully unfolded space foldable structure to meet different needs. Figure 15 As shown, it is a foldable structure with special-shaped boundary space; Figure 16 As shown, it is a foldable structure with a circular boundary space.

Claims

1. A spatial foldable structure based on origami and paper cutting techniques, characterized in that: Includes multiple connected boards, board G1H1I1F1F 12 、Board G3H1I1F3F 32 、Board G2H2I2F2F 22 、Board G4H2I2F4F 42 For congruent pentagons, plate F1F 12 E1E2F 22 F2, board F3F 32 E3E4F 42 F4 is a congruent hexagon, plate B1A1G1F 12 、Board B1C1E1F 12 、Board B2A2G2F 22 、Board B2C2E2F 22 、Board B3A3G3F 32 、Board B3C3E3F 32 、Board B4A4G4F 42 、Board B4C4E4F 42 are congruent right trapezoids, plates OF1F2 and OF3F4 are congruent isosceles right triangles, plates OF1I1, OF3I1, OF2I2, and OF4I2 are congruent isosceles right triangles; Board B1A1G1F 12 With board B1C1E1F 12 Via Mountain Crease B1F 12 Connection, board B1A1G1F 12 With board G1H1I1F1F 12 Pass Valley Crease G1F 12 Connection, board G1H1I1F1F 12 With board G3H1I1F3F 32 Connect via mountain crease H1I1, plate G3H1I1F3F 32 With board B3A3G3F 32 G3F through the valley crease 32 Connection, board B3A3G3F 32 With board B3C3E3F 32 Through the mountain crease B3F 32 Connection, board B3C3E3F 32 with board F3F 32 E3E4F 42 F4 through valley crease E3F 32 Connection, Board F3F 32 E3E4F 42 F4 and plates B4C4E4F 42 Via Valley Crease E4F 42 Connection, board B4C4E4F 42 With board B4A4G4F 42 Through the mountain crease B4F 42 Connection, board B4A4G4F 42 with board G4H2I2F4F 42 G4F by Valley Crease 42 Connection, board G4H2I2F4F 42 With board G2H2I2F2F 22 Connect via mountain crease H2I2, plate G2H2I2F2F 22 With board B2A2G2F 22 G2F via Valley Crease 22 Connection, board B2A2G2F 22 with board B2C2E2F 22 Pass Mountain Crease B2F 22 Connection, board B2C2E2F 22 with board F1F 12 E1E2F 22 F2 through valley crease E2F 22 Connection, Board F1F 12 E1E2F 22 F2 and board B1C1E1F 12 Via Valley Crease E1F 12 Connection, Board F1F 12 E1E2F 22 F2 and board G1H1I1F1F 12 Pass Valley Crease F1F 12 Connection, Board F1F 12 E1E2F 22 F2 and board G2H2I2F2F 22 F2F via Valley Crease 22 Connection, Board F1F 12 E1E2F 22 F2 is connected to plate OF1F2 through valley fold F1F2, and plate F3F 32 E3E4F 42 F4 and board G3H1I1F3F 32 Through the Valley Crease F3F 32 Connection, Board F3F 32 E3E4F 42 F4 and board G4H2I2F4F 42 F4F through the valley crease 42 Connection, Board F3F 32 E3E4F 42 F4 is connected to plate OF3F4 through valley fold F3F4, plate G1H1I1F1F 12 Connected to plate OF1I1 via valley fold F1I1, plate G3H1I1F3F 32 Connected to plate OF3I1 through valley fold F3I1, plate G2H2I2F2F 22 Connected to board OF2I2 via valley fold F2I2, board G4H2I2F4F 42 Plate OF4I2 is connected to plate OF1F2 via valley fold F4I2, plate OF1F2 is connected to plate OF1I1 via mountain fold OF1, plate OF1F2 is connected to plate OF2I2 via mountain fold OF2, plate OF3F4 is connected to plate OF3I1 via mountain fold OF3, and plate OF3F4 is connected to plate OF4I2 via mountain fold OF4; There is no connection between the board OF1I1 and the board OF3I1, and between the board OF2I2 and the board OF4I2, forming a shear cut I1OI2; The fully unfolded shape is polygon A1B1C1C2B2A2A4B4C4C3B3A3. A1A3 and C1C2 intersect at point D1, C1C2 and A2A4 intersect at point D2, A2A4 and C3C4 intersect at point D4, A1A3 and C3C4 intersect at point D3, D1D2D4D3 are connected to form a large square, A1B1C1D1, A2B2C2D2, A3B3C3D3, A4B4C4D4 are connected to form a small square; the fully folded shape is F1F 12 E1E2F 22 F2 or F3F 32 E3E4F 42 F4.

2. The spatial foldable structure based on origami and paper cutting technology according to claim 1 is characterized in that: The angles formed between adjacent folds are only 45°, 90° or 135°.

3. The spatial foldable structure based on origami and paper cutting technology according to claim 1 is characterized in that: The ratio of the maximum area of ​​the fully unfolded shape to the maximum area of ​​the fully folded shape is the folding rate of the spatially foldable structure.

4. The spatial foldable structure based on origami and paper cutting technology according to claim 3 is characterized in that: The border length of the large square is L, F1F 12 、F2F 22 、F3F 32 、F4F 42 The length of the projection on the boundary of the large square is L1; the lengths of the sides conform to the following formula: D1D2=D2D4=D4D3=D3D1=L A1B1=C1B1=A2B2=C2B2=A3B3=C3B3=A4B4=C4B4=L / 6-2L1 A1G1=G1H1=H1G3=G3A3=L / 6+L1 A2G2=G2H2=H2G4=G4A4=L / 6+L1 C1E1=E2C2=C3E3=E4C4=L / 6+L1 E1E2=E3E4=L / 3+2L1 F1I1=F3I1=F4I2=F2I2=L / 6 F1F2=F3F4=H1I1=H2I2=L / 3 G1F 12 =G2F 22 =G3F 32 =G4F 42 =E1F 12 =E2F 22 =E3F 32 =E4F 42 =L / 3-L1 5. The spatial foldable structure based on origami and paper cutting technology according to claim 4 is characterized in that: The value range of L1 is 0~L / 12; point F 12 、F 22 、F 32 、F 42 Move synchronously along B1F1, B2F2, B3F3, and B4F4 respectively; correspondingly, points E1, G1, E2, G2, E3, G3, E4, and G4 move synchronously along the boundary of the large square, while maintaining ∠E1F 12 G1, ∠E2F 22 G2, ∠E3F 32 G3, ∠E4F 42 G4 is a right angle.

6. The spatial foldable structure based on origami and paper cutting technology according to claim 5 is characterized in that: When L1=0, point F 12 、F 22 、F 32 、F 42 They coincide with points F1, F2, F3, and F4 respectively, and the folding rate of the spatial foldable structure reaches a maximum value of 8.

00.

7. The spatial foldable structure based on origami and paper cutting technology according to claim 5 is characterized in that: When L1=L / 12, A1, B1, C1, and D1 intersect at one point, A2, B2, C2, and D2 intersect at one point, A3, B3, C3, and D3 intersect at one point, and A4, B4, C4, and D4 intersect at one point. The folding rate of the spatial foldable structure reaches the minimum value of 6.

26.

8. The modular application of a spatially foldable structure based on origami and paper cutting techniques according to any one of claims 1 to 7, characterized in that: The spatially foldable structure is used as a module unit 1, and two or more module units 1 are horizontally connected.

9. The modular application of the spatially foldable structure based on origami and paper cutting techniques as claimed in claim 7, characterized in that: Two spatially foldable structures with a folding ratio of 6.26 are combined together to form a module unit 2, and two or more module units 2 are horizontally connected.

10. The modular application of the spatial foldable structure based on origami and paper cutting technology according to claim 9 is characterized in that: Module unit 2 includes space foldable structure 1 and space foldable structure 2. 22 A2G2 and Plate F of Spatial Foldable Structure II 12 A1G1 is connected to form a continuous plate 1, and the plate I2F2F of the spatially foldable structure 1 22 G2H2 and the plate I1F1F of the spatially foldable structure II 12 G1H1 is connected to form continuous plate 2, and plate I2F4F of spatially foldable structure 1 42 G4H2 and the plate I1F3F of the spatially foldable structure II 32 G3H1 is connected to form continuous plate three, and plate F of spatially foldable structure one 42 A4G4 and Plate F of Spatial Foldable Structure II 32 A3G3 is connected to form continuous plate four; the creases between continuous plate one, continuous plate two, continuous plate three and continuous plate four all become continuous creases.

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