A foldable and loadable paper structure

Abstract

This invention discloses a foldable and load-bearing origami structure, comprising a first substructure, a second substructure, a third substructure, and a fourth substructure. The first substructure consists of 12 faces, the second substructure consists of 16 faces, the third substructure consists of 4 faces, and the fourth substructure consists of 2 faces. The second substructure is connected to the first, third, and fourth substructures respectively. The overall folding of the origami structure in one direction within the plane is divided into two parts: the first part is the folding and unfolding of the first substructure, and the second part is the folding and unfolding of the first, third, and fourth substructures. The overall folding and unfolding of the origami structure in another direction within the plane is also divided into two parts: the first part mainly involves the folding and unfolding of the first and second substructures; the second part, since the third and fourth substructures cannot be folded, achieves self-locking after the first and second substructures are folded.

Description

Technical Field

[0001] This invention relates to a foldable and load-bearing origami structure, specifically an origami structure that is expandable, foldable, and load-bearing, exhibiting different folding properties in three directions. Background Technology

[0002] Deployable structures are a unique type of engineering structure whose deployment involves mechanical movement. These structures have both folded and unfolded forms; the folded form saves space and facilitates storage and transportation. Deployable structures offer advantages such as a high fold-to-unfold ratio and ease of disassembly, and are widely used in aerospace, architectural structures, and other engineering fields.

[0003] Deployable structures are used in applications such as solar sails and building roofs. For solar sails, deployable structures aim for minimal weight and a small folded volume for easy transport, and can be deployed to a working state at a specific location with a large working space. Due to their superior folding and unfolding performance, deployable structures are increasingly favored in the aerospace field. Deployable structures, with their degrees of freedom constrained using certain methods, have fewer degrees of freedom, high rigidity, simple structure, are easy to manufacture, have low manufacturing costs, and high reliability. Therefore, deployable structures have excellent application prospects in engineering.

[0004] Load-bearing structures have important and wide applications in engineering, such as truss structures, beam structures, and load-bearing walls in building construction, and bumper load-bearing structures in automobile manufacturing. Traditional load-bearing structures require a certain degree of stiffness when bearing load and cannot easily deform, so it is difficult to make them spatially adaptable through structural geometric changes. Deployable structures, on the other hand, can adapt well to different spaces and save a lot of space because they have folded and unfolded states. However, current technology has not yet been able to combine the two. Summary of the Invention

[0005] The purpose of this invention is to overcome the shortcomings of existing technologies and provide an scalable origami structure exhibiting different folding properties in three directions. This origami structure can exhibit different folding properties in various compression directions; the structure can be folded flat in one in-plane direction, and has a load-bearing function based on self-locking after folding in another in-plane direction. The folding process saves load-bearing space, and it can achieve near-zero Poisson's ratio deformation in the out-of-plane direction. Its in-plane deformation under load is stable. The entire structure is a single-degree-of-freedom structure, with simple motion control. It has advantages such as simple manufacturing and processing, convenient motion control, and high reliability. Furthermore, based on the different folding properties exhibited in the three directions, it can be adapted to different occasions, and is particularly suitable for metamaterial structures, civil structures, building load-bearing structures, aerospace, and many other fields, where it has significant importance and broad application prospects.

[0006] The objective of this invention is achieved through the following technical solution:

[0007] A foldable and load-bearing origami structure includes four substructures, namely, a first substructure, a second substructure, a third substructure, and a fourth substructure; the first substructure consists of 12 faces, the second substructure consists of 16 faces, the third substructure consists of 4 faces, and the fourth substructure consists of 2 faces; the second substructure is connected to the first substructure, the third substructure, and the fourth substructure respectively.

[0008] The origami structure can be folded and unfolded as a whole in one direction within the plane, which is determined by the plane at the connection between the first substructure and the second substructure; the first part is the folding and unfolding of the first substructure, and the second part is the folding and unfolding of the first, third and fourth substructures.

[0009] The origami structure is divided into two parts by the plane determined by the connection between the second substructure and the third and fourth substructures in another direction within the plane. The first part is mainly the folding and unfolding of the first and second substructures. The second part is self-locking after the first and second substructures are folded because the third and fourth substructures cannot be folded.

[0010] Furthermore, the first surface of the first substructure is adjacent to the second surface and interconnected through the first revolute joint of the first substructure; the first surface of the first substructure is adjacent to the fourth surface and interconnected through the second revolute joint of the first substructure; the first surface of the first substructure is adjacent to the fifth surface and interconnected through the third revolute joint of the first substructure; the second surface of the first substructure is adjacent to the third surface and interconnected through the fourth revolute joint of the first substructure; the second surface of the first substructure is adjacent to the sixth surface and interconnected through the fifth revolute joint of the first substructure; the third surface of the first substructure is adjacent to the fourth surface and interconnected through the sixth revolute joint of the first substructure; the third surface of the first substructure is adjacent to the eighth surface and interconnected through the seventh revolute joint of the first substructure; the fourth surface of the first substructure is adjacent to the seventh surface and interconnected through the eighth revolute joint of the first substructure; the fifth surface of the first substructure is adjacent to the sixth, ninth, and tenth surfaces and interconnected through the ninth revolute joint of the first substructure; the fifth surface of the first substructure... The first substructure is adjacent to the seventh face and connected to it through the tenth revolute joint of the first substructure; the first substructure's sixth face is adjacent to the eighth face and connected to it through the eleventh revolute joint of the first substructure; the first substructure's sixth face is adjacent to the ninth and tenth faces and connected to it through the seventh revolute joint of the first substructure; the first substructure's seventh face is adjacent to the eighth, eleventh, and twelfth faces and connected to it through the twelfth revolute joint of the first substructure; the first substructure's eighth face is adjacent to the eleventh and twelfth faces and connected to it through the twelfth revolute joint of the first substructure; the first substructure's ninth face is adjacent to the tenth face and connected to it through the ninth revolute joint of the first substructure; the first substructure's ninth face is adjacent to the eleventh face and connected to it through the thirteenth revolute joint of the first substructure; the first substructure's tenth face is adjacent to the twelfth face and connected to it through the fourteenth revolute joint of the first substructure; the first substructure's eleventh face is adjacent to the twelfth face and connected to it through the twelfth revolute joint of the first substructure.

[0011] The first face of the second substructure is adjacent to the second face and connected to each other through the first revolute joint of the second substructure; the first face of the second substructure is adjacent to the fourth face and connected to each other through the second revolute joint of the second substructure; the first face of the second substructure is adjacent to the fifth face and connected to each other through the third revolute joint of the second substructure; the second face of the second substructure is adjacent to the third face and connected to each other through the fourth revolute joint of the second substructure; the second face of the second substructure is adjacent to the sixth face and connected to each other through the fifth revolute joint of the second substructure; the third face of the second substructure is adjacent to the fourth face and connected to each other through the sixth revolute joint of the second substructure; the third face of the second substructure is adjacent to the fifteenth face and connected to each other through the seventh revolute joint of the second substructure. The fourth and thirteenth faces of the second substructure are adjacent and connected to each other through the eighth revolute joint of the second substructure; the fifth and sixth faces of the second substructure are adjacent and connected to each other through the ninth revolute joint of the second substructure; the fifth and seventh faces of the second substructure are adjacent and connected to each other through the tenth revolute joint of the second substructure; the fifth and thirteenth faces of the second substructure are adjacent and connected to each other through the eleventh revolute joint of the second substructure; the sixth and eighth faces of the second substructure are adjacent and connected to each other through the twelfth revolute joint of the second substructure; the sixth and fifteenth faces of the second substructure are adjacent and connected to each other through the thirteenth revolute joint of the second substructure; the seventh face of the second substructure is adjacent and connected to the eighth, ninth, and tenth faces through... The fourteenth revolute joint of the second substructure is interconnected; the seventh face of the second substructure is adjacent to the fourteenth face and interconnected through the fifteenth revolute joint of the second substructure; the eighth face of the second substructure is adjacent to the ninth and tenth faces and interconnected through the fourteenth revolute joint of the second substructure; the eighth face of the second substructure is adjacent to the sixteenth face and interconnected through the sixteenth revolute joint of the second substructure; the ninth face of the second substructure is adjacent to the tenth face and interconnected through the fourteenth revolute joint of the second substructure; the ninth face of the second substructure is adjacent to the eleventh face and interconnected through the seventeenth revolute joint of the second substructure; the tenth face of the second substructure is adjacent to the twelfth face and interconnected through the eighteenth revolute joint of the second substructure; the second The eleventh face of the substructure is adjacent to the twelfth, fourteenth, and sixteenth faces and interconnected through the nineteenth revolute joint of the second substructure; the twelfth face of the second substructure is adjacent to the fourteenth and sixteenth faces and interconnected through the nineteenth revolute joint of the second substructure; the thirteenth face of the second substructure is adjacent to the fourteenth face and interconnected through the twentieth revolute joint of the second substructure; the thirteenth face of the second substructure is adjacent to the fifteenth face and interconnected through the twenty-first revolute joint of the second substructure; the fourteenth face of the second substructure is adjacent to the sixteenth face and interconnected through the nineteenth revolute joint of the second substructure; the fifteenth face of the second substructure is adjacent to the sixteenth face and interconnected through the twenty-second revolute joint of the second substructure.

[0012] The first face of the third substructure is adjacent to the second face and is connected to each other through the first revolute joint of the third substructure; the first face of the third substructure is adjacent to the third face and is connected to each other through the second revolute joint of the third substructure; the second face of the third substructure is adjacent to the fourth face and is connected to each other through the third revolute joint of the third substructure; the third face of the third substructure is adjacent to the fourth face and is connected to each other through the fourth revolute joint of the third substructure.

[0013] The first and second faces of the fourth substructure are adjacent to each other and are connected to each other through the first revolute joint of the fourth substructure.

[0014] The first face of the first substructure is adjacent to the fourth face of the second substructure and connected to each other through the fifteenth revolute joint of the first substructure and the twenty-third revolute joint of the second substructure; the second face of the first substructure is adjacent to the third face of the second substructure and connected to each other through the sixteenth revolute joint of the first substructure and the twenty-fourth revolute joint of the second substructure; the fifth face of the first substructure is adjacent to the thirteenth and fourteenth faces of the second substructure and connected to each other through the seventeenth revolute joint of the first substructure and the twentieth revolute joint of the second substructure; the sixth face of the first substructure is adjacent to the fifteenth and sixteenth faces of the second substructure and connected to each other through the eighteenth revolute joint of the first substructure and the twenty-second revolute joint of the second substructure; the ninth face of the first substructure is adjacent to the eleventh face of the second substructure and connected to each other through the nineteenth revolute joint of the first substructure and the twenty-fifth revolute joint of the second substructure; the tenth face of the first substructure is adjacent to the twelfth face of the second substructure and connected to each other through the twentieth revolute joint of the first substructure and the twenty-sixth revolute joint of the second substructure. The moving joints are interconnected; the second and sixth faces of the second substructure are adjacent to the first face of the third substructure and interconnected through the fifth revolute joint of the second substructure and the eighth revolute joint of the third substructure; the third and fifteenth faces of the second substructure are adjacent to the second face of the third substructure and interconnected through the seventh revolute joint of the second substructure and the fifth revolute joint of the third substructure; the eighth face of the second substructure is adjacent to the third face of the third substructure and interconnected through the twenty-seventh revolute joint of the second substructure and the seventh revolute joint of the third substructure; the sixteenth face of the second substructure is adjacent to the fourth face of the third substructure and interconnected through the twenty-eighth revolute joint of the second substructure and the sixth revolute joint of the third substructure; the tenth face of the second substructure is adjacent to the first face of the fourth substructure and interconnected through the twenty-ninth revolute joint of the second substructure and the fifth revolute joint of the fourth substructure; the twelfth face of the second substructure is adjacent to the second face of the fourth substructure and interconnected through the thirtieth revolute joint of the second substructure and the third revolute joint of the fourth substructure.

[0015] In the first part of the origami structure, which involves folding and unfolding the entire structure in one direction, the folding and unfolding of the first substructure is carried out around the reference plane determined by the second and tenth revolute joints of the first substructure. During folding, the first, second, fifth, sixth, ninth, and tenth faces of the first substructure are folded around the revolute joints on the reference plane in the direction closer to the reference plane, and the third, fourth, seventh, eighth, eleventh, and twelfth faces of the first substructure are folded around the revolute joints on the reference plane in the direction closer to the reference plane, until the first face of the first substructure coincides with the fourth face of the first substructure, and the first substructure is folded from a spatial structure into a planar structure.

[0016] In the second part, the folding and unfolding of the first, third, and fourth substructures are carried out around the reference plane determined by the second and eleventh revolute joints of the second substructure. During folding, the first, second, fifth, sixth, seventh, eighth, ninth, and tenth faces of the second substructure, the first and third faces of the third substructure, and the first face of the fourth substructure are folded around the revolute joints on the reference plane towards the reference plane. The third, fourth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, and sixteenth faces of the second substructure, the second and fourth faces of the third substructure, and the second face of the fourth substructure are folded around the revolute joints on the reference plane towards the reference plane, until the first face of the second substructure coincides with the fourth face of the second substructure. The second, third, and fourth substructures are then folded from spatial structures into planar structures; the first face of the first substructure... The movements of the fourth, second, third, fifth, seventh, sixth, eighth, ninth, eleventh, tenth, and twelfth faces of the second substructure are symmetrical based on the reference plane. The movements of the first, fourth, second, third, fifth, thirteenth, sixth, fifteenth, seventh, fourteenth, eighth, sixteenth, ninth, eleventh, tenth, and twelfth faces of the second substructure are symmetrical based on the reference plane. The movements of the first, second, third, and fourth faces of the third substructure are symmetrical based on the reference plane. The movements of the first and second faces of the fourth substructure are symmetrical based on the reference plane. Finally, the first face of the first substructure coincides with the fourth face of the second substructure, and the entire unit folds into a planar structure.

[0017] In the first part of the origami structure's overall folding and unfolding in another direction within the plane, the folding and unfolding of the first substructure revolves around the reference plane determined by the first and sixth revolving joints of the first and second substructures. During folding, the first, fourth, fifth, seventh, ninth, and eleventh faces of the first substructure fold around the revolving joints on the reference plane towards the direction closer to the reference plane, and the second, third, sixth, eighth, tenth, and twelfth faces of the first substructure fold around the revolving joints on the reference plane towards the direction closer to the reference plane, until the first face of the first substructure coincides with the second face of the first substructure, at which point the first substructure folds from a spatial structure to a planar structure. The first, fourth, fifth, seventh, ninth, eleventh, thirteenth, and fourteenth faces of the second substructure fold around the revolving joints on the reference plane towards the direction closer to the reference plane. Folding occurs in the direction close to the reference plane. The second, third, sixth, eighth, tenth, twelfth, fifteenth, and sixteenth faces of the first substructure fold around the revolute joints on the reference plane in the direction closer to the reference plane, until the first face of the second substructure coincides with the second face of the second substructure. The second substructure folds from a spatial structure into a planar structure. The movements of the first and second faces, the third and fourth faces, the fifth and sixth faces, the seventh and eighth faces, the ninth and tenth faces, the eleventh face and the twelfth face of the first substructure are symmetrical about the reference plane. The movements of the first and second faces, the third and fourth faces, the fifth and sixth faces, the seventh and eighth faces, the ninth and tenth faces, the eleventh face and the twelfth face, the thirteenth face and the fifteenth face, the fourteenth face and the sixteenth face of the second substructure are symmetrical about the reference plane.

[0018] Furthermore, to satisfy geometric compatibility, both the first and second substructures have a side length of 'a' and an angle of 'a'. The first substructure is composed of parallelogram-shaped surfaces; the second and third substructures are composed of rectangular surfaces with side lengths a and b, respectively.

[0019] Furthermore, the axes of all revolute joints in the third and fourth substructures are parallel to each other.

[0020] Furthermore, the origami structure is a structure determined by the motion process, and has 1 degree of freedom.

[0021] Furthermore, all revolute joints are any one of hinges, pivots, or bearings.

[0022] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0023] 1. The present invention has a large unfolding ratio. It can be folded from a planar structure into a spatial structure in one direction. The folded state of the planar structure can save space to a great extent to facilitate transportation.

[0024] 2. After unfolding, the present invention has a self-locking capability in one direction, the structure is stable and has a certain rigidity, and the structure can bear a certain load after self-locking. At the same time, the folding capability in this direction can save some space.

[0025] 3. The present invention has a characteristic of approximately zero Poisson's ratio in one direction, has good load-bearing capacity, and is stable in deformation in a certain direction within the plane.

[0026] 4. This invention is designed for functionality. The dimensions of each substructure can be designed according to actual needs, while satisfying the connection relationship. The size of the rotating joint can be adjusted as required, and the installation and driving position can be arbitrarily selected according to actual requirements. Attached Figure Description

[0027] Figure 1a and Figure 1b This is a three-dimensional structural diagram of the first substructure in Embodiment 1 of the present invention.

[0028] Figure 2a and Figure 2b This is a three-dimensional structural diagram of the second substructure in Embodiment 1 of the present invention.

[0029] Figure 3 This is a schematic diagram of the three-dimensional structure of the third substructure in Embodiment 1 of the present invention.

[0030] Figure 4 This is a schematic diagram of the three-dimensional structure of the fourth substructure in Embodiment 1 of the present invention.

[0031] Figure 5 This is a three-dimensional structural diagram of a specific embodiment 1 of the present invention.

[0032] Figures 6 to 10 These are schematic diagrams of the three-dimensional structure of Embodiment 1 of the present invention, showing folding angles of 60 degrees (folded flat in the X direction), 75 degrees, 90 degrees, 135 degrees, and 180 degrees (folded flat in the Z direction) during the movement process.

[0033] Figure 11 This is a schematic diagram of the three-dimensional structure after three-way expansion in specific embodiment 1 of the present invention.

[0034] Figure 12 is a three-dimensional structural diagram of the first substructure in Embodiment 2 of the present invention.

[0035] Figure 13 is a three-dimensional structural diagram of the second substructure in Embodiment 2 of the present invention.

[0036] Figure 14a and Figure 14b These are schematic diagrams of the three-dimensional structure of the third and fourth substructures in Embodiment 2 of the present invention.

[0037] Figure 15 This is a three-dimensional structural schematic diagram of a specific embodiment 2 of the present invention.

[0038] Figures 16 to 19 These are schematic diagrams of the three-dimensional structure of Embodiment 1 of the present invention, showing folding angles of 80 degrees (flattened in the X direction), 90 degrees, 135 degrees, and 180 degrees (flattened and self-locking in the Z direction) during the movement process.

[0039] Figure 20 This is a schematic diagram of the three-dimensional structure after three-way expansion in specific embodiment 2 of the present invention. Detailed Implementation

[0040] The present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only for explaining the present invention and are not intended to limit the present invention.

[0041] Example 1

[0042] like Figure 5 As shown in the figure, the structure shown is a three-dimensional structural diagram of a foldable and load-bearing origami structure provided in this embodiment, which consists of a first substructure, a second substructure, a third substructure, and a fourth substructure.

[0043] The first substructure comprises twelve faces, namely, face A1, face A2, face A3, face A4, face A5, face A6, face A7, face A8, face A9, face A10, face A11, and face A12. Figure 1a and Figure 1b As shown;

[0044] The second substructure comprises sixteen faces, namely, face B1 (first face), B2 (second face), B3 (third face), B4 (fourth face), B5 (fifth face), B6 ​​(sixth face), B7 (seventh face), B8 (eighth face), B9 (ninth face), B10 (tenth face), B11 (eleventh face), B12 (twelfth face), B13 (thirteenth face), B14 (fourteenth face), B15 (fifteenth face), and B16 (sixteenth face). Figure 2a and Figure 2b As shown;

[0045] The third substructure comprises four faces: face C1, face C2, face C3, and face C4. Figure 3 As shown;

[0046] The fourth substructure includes two faces, namely the first face D1 and the second face D2 of the fourth substructure, as follows: Figure 4 As shown;

[0047] The first surface A1 of the first substructure is adjacent to the second surface A2 and connected to each other through the first revolute joint M1 of the first substructure; the first surface A1 of the first substructure is adjacent to the fourth surface A4 and connected to each other through the second revolute joint M2 of the first substructure; the first surface A1 of the first substructure is adjacent to the fifth surface A5 and connected to each other through the third revolute joint M3 of the first substructure; the second surface A2 of the first substructure is adjacent to the third surface A3 and connected to each other through the fourth revolute joint M4 of the first substructure; the second surface A2 of the first substructure is adjacent to the sixth surface A6 and connected to each other through the fifth revolute joint M5 of the first substructure. The first substructure's third surface A3 is adjacent to the fourth surface A4 and connected to each other through the sixth revolute joint M6 of the first substructure; the first substructure's third surface A3 is adjacent to the eighth surface A8 and connected to each other through the seventh revolute joint M7 of the first substructure; the first substructure's fourth surface A4 is adjacent to the seventh surface A7 and connected to each other through the eighth revolute joint M8 of the first substructure; the first substructure's fifth surface A5 is adjacent to the sixth surface A6, the ninth surface A9, and the tenth surface A10 and connected to each other through the ninth revolute joint M9 of the first substructure; the first substructure's fifth surface A5 is adjacent to the seventh surface A7 and connected to each other through the sixth revolute joint M6 of the first substructure. The first substructure's tenth revolute joint M10 is interconnected; the first substructure's sixth surface A6 is adjacent to the eighth surface A8 and interconnected through the first substructure's eleventh revolute joint M11; the first substructure's sixth surface A6 is adjacent to the ninth surface A9 and the tenth surface A10 and interconnected through the first substructure's ninth revolute joint M9; the first substructure's seventh surface A7 is adjacent to the eighth surface A8 and the eleventh surface A11, and the twelfth surface A12 is interconnected through the first substructure's twelfth revolute joint M12; the first substructure's eighth surface A8 is adjacent to the eleventh surface A11 and the twelfth surface A12 and interconnected through the first substructure's twelfth revolute joint M12. The first substructure is interconnected by the twelfth revolute joint M12; the ninth face A9 and the tenth face A10 of the first substructure are adjacent and interconnected by the ninth revolute joint M9 of the first substructure; the ninth face A9 and the eleventh face A11 of the first substructure are adjacent and interconnected by the thirteenth revolute joint M13 of the first substructure; the tenth face A10 and the twelfth face A12 of the first substructure are adjacent and interconnected by the fourteenth revolute joint M14 of the first substructure; the eleventh face A11 and the twelfth face A12 of the first substructure are adjacent and interconnected by the twelfth revolute joint M12 of the first substructure.

[0048] The fifth face A5 of the first substructure shares the ninth revolute joint M9 with the sixth face A6, the ninth face A9, and the tenth face A10; the seventh face A7 of the first substructure is adjacent to the eighth face A8 and the eleventh face A11, and the twelfth face A12 shares the twelfth revolute joint M12.

[0049] The first surface B1 of the second substructure is adjacent to the second surface B2 and connected to each other through the first revolute joint N1 of the second substructure; the first surface B1 of the second substructure is adjacent to the fourth surface B4 and connected to each other through the second revolute joint N2 of the second substructure; the first surface B1 of the second substructure is adjacent to the fifth surface B5 and connected to each other through the third revolute joint N3 of the second substructure; the second surface B2 of the second substructure is adjacent to the third surface B3 and connected to each other through the fourth revolute joint N4 of the second substructure; the second surface B2 of the second substructure is adjacent to the sixth surface B6 and connected to each other through the fifth revolute joint N5 of the second substructure; the third surface B3 of the second substructure is adjacent to the fourth surface B4 and connected to each other through the sixth revolute joint N6 of the second substructure; the third surface B3 of the second substructure is adjacent to the fifteenth surface. B15 is adjacent to each other and connected to each other through the seventh revolute joint N7 of the second substructure; the fourth face B4 of the second substructure is adjacent to the thirteenth face B13 and connected to each other through the eighth revolute joint N8 of the second substructure; the fifth face B5 of the second substructure is adjacent to the sixth face B6 and connected to each other through the ninth revolute joint N9 of the second substructure; the fifth face B5 of the second substructure is adjacent to the seventh face B7 and connected to each other through the tenth revolute joint N10 of the second substructure; the fifth face B5 of the second substructure is adjacent to the thirteenth face B13 and connected to each other through the eleventh revolute joint N11 of the second substructure; the sixth face B6 of the second substructure is adjacent to the eighth face B8 and connected to each other through the twelfth revolute joint N12 of the second substructure; the sixth face B6 of the second substructure is adjacent to the fifteenth face B15. And they are interconnected through the thirteenth revolute joint N13 of the second substructure; the seventh face B7 of the second substructure is adjacent to the eighth face B8, the ninth face B9, and the tenth face B10 and is interconnected through the fourteenth revolute joint N14 of the second substructure; the seventh face B7 of the second substructure is adjacent to the fourteenth face B14 and is interconnected through the fifteenth revolute joint N15 of the second substructure; the eighth face B8 of the second substructure is adjacent to the ninth face B9 and the tenth face B10 and is interconnected through the fourteenth revolute joint N14 of the second substructure; the eighth face B8 of the second substructure is adjacent to the sixteenth face B16 and is interconnected through the sixteenth revolute joint N16 of the second substructure; the ninth face B9 of the second substructure is adjacent to the tenth face B10 and is interconnected through the fourteenth revolute joint N14 of the second substructure. Connections: The ninth face B9 of the second substructure is adjacent to the eleventh face B11 and is connected to each other through the seventeenth revolute joint N17 of the second substructure; the tenth face B10 of the second substructure is adjacent to the twelfth face B12 and is connected to each other through the eighteenth revolute joint N18 of the second substructure; the eleventh face B11 of the second substructure is adjacent to the twelfth face B12, the fourteenth face B14, and the sixteenth face B16 and is connected to each other through the nineteenth revolute joint N19 of the second substructure; the twelfth face B12 of the second substructure is adjacent to the fourteenth face B14 and the sixteenth face B16 and is connected to each other through the nineteenth revolute joint N19 of the second substructure; the thirteenth face B13 of the second substructure is adjacent to the fourteenth face B14 and is connected to each other through the twentieth revolute joint N20 of the second substructure.The thirteenth face B13 of the second substructure is adjacent to the fifteenth face B15 and is connected to each other through the twenty-first revolute joint N21 of the second substructure; the fourteenth face B14 of the second substructure is adjacent to the sixteenth face B16 and is connected to each other through the nineteenth revolute joint N19 of the second substructure; the fifteenth face B15 of the second substructure is adjacent to the sixteenth face B16 and is connected to each other through the twenty-second revolute joint N22 of the second substructure.

[0050] The seventh face B7 of the second substructure shares the fourteenth revolute joint N14 with the eighth face B8, the ninth face B9, and the tenth face B10; the eleventh face B11 of the second substructure shares the nineteenth revolute joint N19 with the twelfth face B12, the fourteenth face B14, and the sixteenth face B16.

[0051] The first surface C1 of the third substructure is adjacent to the second surface C2 and is connected to each other through the first revolute joint P1 of the third substructure; the first surface C1 of the third substructure is adjacent to the third surface C3 and is connected to each other through the second revolute joint P2 of the third substructure; the second surface C2 of the third substructure is adjacent to the fourth surface C4 and is connected to each other through the third revolute joint P3 of the third substructure; the third surface C3 of the third substructure is adjacent to the fourth surface C4 and is connected to each other through the fourth revolute joint P4 of the third substructure.

[0052] The first surface D1 of the fourth substructure is adjacent to the second surface D2 and is connected to each other through the first revolute joint Q1 of the fourth substructure.

[0053] The first surface A1 of the first substructure is adjacent to the fourth surface B4 of the second substructure and is connected to each other through the fifteenth revolute joint M15 of the first substructure (the twenty-third revolute joint N23 of the second substructure); the second surface A2 of the first substructure is adjacent to the third surface B3 of the second substructure and is connected to each other through the sixteenth revolute joint M16 of the first substructure (the twenty-fourth revolute joint N24 of the second substructure); the fifth surface A5 of the first substructure is adjacent to the thirteenth surface B13 and the fourteenth surface B14 of the second substructure and is connected to each other through the seventeenth revolute joint M17 of the first substructure (the twentieth revolute joint N20 of the second substructure). Interconnected; the sixth face A6 of the first substructure is adjacent to the fifteenth face B15 and the sixteenth face B16 of the second substructure and is interconnected through the eighteenth revolute joint M18 of the first substructure (the twenty-second revolute joint N22 of the second substructure); the ninth face A9 of the first substructure is adjacent to the eleventh face B11 of the second substructure and is interconnected through the nineteenth revolute joint M19 of the first substructure (the twenty-fifth revolute joint N25 of the second substructure); the tenth face A10 of the first substructure is adjacent to the twelfth face B12 of the second substructure and is interconnected through the twentieth revolute joint M20 of the first substructure (the twenty-sixth revolute joint N22 of the second substructure). The second substructure's second surface B2 and sixth surface B6 are adjacent to the third substructure's first surface C1 and are connected to each other through the second substructure's fifth revolute joint N5 (the third substructure's eighth revolute joint P8); the second substructure's third surface B3 and fifteenth surface B15 are adjacent to the third substructure's second surface C2 and are connected to each other through the second substructure's seventh revolute joint N7 (the third substructure's fifth revolute joint P5); the second substructure's eighth surface B8 is adjacent to the third substructure's third surface C3 and is connected to the second substructure's twenty-seventh revolute joint N27 (the third substructure's seventh revolute joint). P7) are interconnected; the sixteenth face B16 of the second substructure is adjacent to the fourth face C4 of the third substructure and is interconnected through the twenty-eighth revolute joint N28 of the second substructure (the sixth revolute joint P6 of the third substructure); the tenth face B10 of the second substructure is adjacent to the first face D1 of the fourth substructure and is interconnected through the twenty-ninth revolute joint N29 of the second substructure (the fifth revolute joint Q5 of the fourth substructure); the twelfth face B12 of the second substructure is adjacent to the second face D2 of the fourth substructure and is interconnected through the thirtieth revolute joint N30 of the second substructure (the third revolute joint Q3 of the fourth substructure).

[0054] Based on the connection method between the modules described above, the origami structure diagram provided in this embodiment is as follows: Figure 5 As shown. Figures 6 to 10 These are schematic diagrams of the three-dimensional structure provided in this embodiment, showing the folding angles during the origami structure movement as 60 degrees (folded flat in the X direction), 75 degrees, 90 degrees, 135 degrees, and 180 degrees (folded flat in the Z direction).

[0055] Example 2

[0056] like Figure 15As shown in the figure, the structure shown is a three-dimensional structural diagram of a foldable and load-bearing origami structure provided in this embodiment, which consists of a first substructure, a second substructure, a third substructure, and a fourth substructure.

[0057] The first substructure includes twelve faces, namely, face A1, face A2, face A3, face A4, face A5, face A6, face A7, face A8, face A9, face A10, face A11, and face A12, as shown in Figure 12.

[0058] The second substructure comprises sixteen faces, namely, face B1 of the second substructure, face B2 of the second substructure, face B3 of the second substructure, face B4 of the second substructure, face B5 of the second substructure, face B6 of the second substructure, face B7 of the second substructure, face B8 of the second substructure, face B9 of the second substructure, face B10 of the second substructure, face B11 of the second substructure, face B12 of the second substructure, face B13 of the second substructure, face B14 of the second substructure, face B15 of the second substructure, and face B16 of the second substructure, as shown in Figure 13;

[0059] The third substructure comprises four faces: face C1, face C2, face C3, and face C4. Figure 14a As shown;

[0060] The fourth substructure includes two faces, namely the first face D1 and the second face D2 of the fourth substructure, as follows: Figure 14b As shown;

[0061] The first surface A1 of the first substructure is adjacent to the second surface A2 and connected to each other through the first revolute joint M1 of the first substructure; the first surface A1 of the first substructure is adjacent to the fourth surface A4 and connected to each other through the second revolute joint M2 of the first substructure; the first surface A1 of the first substructure is adjacent to the fifth surface A5 and connected to each other through the third revolute joint M3 of the first substructure; the second surface A2 of the first substructure is adjacent to the third surface A3 and connected to each other through the fourth revolute joint M4 of the first substructure; the second surface A2 of the first substructure is adjacent to the sixth surface A6 and connected to each other through the fifth revolute joint M5 of the first substructure. The first substructure's third surface A3 is adjacent to the fourth surface A4 and connected to each other through the sixth revolute joint M6 of the first substructure; the first substructure's third surface A3 is adjacent to the eighth surface A8 and connected to each other through the seventh revolute joint M7 of the first substructure; the first substructure's fourth surface A4 is adjacent to the seventh surface A7 and connected to each other through the eighth revolute joint M8 of the first substructure; the first substructure's fifth surface A5 is adjacent to the sixth surface A6, the ninth surface A9, and the tenth surface A10 and connected to each other through the ninth revolute joint M9 of the first substructure; the first substructure's fifth surface A5 is adjacent to the seventh surface A7 and connected to each other through the sixth revolute joint M6 of the first substructure. The first substructure's tenth revolute joint M10 is interconnected; the first substructure's sixth surface A6 is adjacent to the eighth surface A8 and interconnected through the first substructure's eleventh revolute joint M11; the first substructure's sixth surface A6 is adjacent to the ninth surface A9 and the tenth surface A10 and interconnected through the first substructure's ninth revolute joint M9; the first substructure's seventh surface A7 is adjacent to the eighth surface A8 and the eleventh surface A11, and the twelfth surface A12 is interconnected through the first substructure's twelfth revolute joint M12; the first substructure's eighth surface A8 is adjacent to the eleventh surface A11 and the twelfth surface A12 and interconnected through the first substructure's twelfth revolute joint M12. The first substructure is interconnected by the twelfth revolute joint M12; the ninth face A9 and the tenth face A10 of the first substructure are adjacent and interconnected by the ninth revolute joint M9 of the first substructure; the ninth face A9 and the eleventh face A11 of the first substructure are adjacent and interconnected by the thirteenth revolute joint M13 of the first substructure; the tenth face A10 and the twelfth face A12 of the first substructure are adjacent and interconnected by the fourteenth revolute joint M14 of the first substructure; the eleventh face A11 and the twelfth face A12 of the first substructure are adjacent and interconnected by the twelfth revolute joint M12 of the first substructure.

[0062] The fifth face A5 of the first substructure shares the ninth revolute joint M9 with the sixth face A6, the ninth face A9, and the tenth face A10; the seventh face A7 of the first substructure is adjacent to the eighth face A8 and the eleventh face A11, and the twelfth face A12 shares the twelfth revolute joint M12.

[0063] The first surface B1 of the second substructure is adjacent to the second surface B2 and connected to each other through the first revolute joint N1 of the second substructure; the first surface B1 of the second substructure is adjacent to the fourth surface B4 and connected to each other through the second revolute joint N2 of the second substructure; the first surface B1 of the second substructure is adjacent to the fifth surface B5 and connected to each other through the third revolute joint N3 of the second substructure; the second surface B2 of the second substructure is adjacent to the third surface B3 and connected to each other through the fourth revolute joint N4 of the second substructure; the second surface B2 of the second substructure is adjacent to the sixth surface B6 and connected to each other through the fifth revolute joint N5 of the second substructure; the third surface B3 of the second substructure is adjacent to the fourth surface B4 and connected to each other through the sixth revolute joint N6 of the second substructure; the third surface B3 of the second substructure is adjacent to the fifteenth surface. B15 is adjacent to each other and connected to each other through the seventh revolute joint N7 of the second substructure; the fourth face B4 of the second substructure is adjacent to the thirteenth face B13 and connected to each other through the eighth revolute joint N8 of the second substructure; the fifth face B5 of the second substructure is adjacent to the sixth face B6 and connected to each other through the ninth revolute joint N9 of the second substructure; the fifth face B5 of the second substructure is adjacent to the seventh face B7 and connected to each other through the tenth revolute joint N10 of the second substructure; the fifth face B5 of the second substructure is adjacent to the thirteenth face B13 and connected to each other through the eleventh revolute joint N11 of the second substructure; the sixth face B6 of the second substructure is adjacent to the eighth face B8 and connected to each other through the twelfth revolute joint N12 of the second substructure; the sixth face B6 of the second substructure is adjacent to the fifteenth face B15. And they are interconnected through the thirteenth revolute joint N13 of the second substructure; the seventh face B7 of the second substructure is adjacent to the eighth face B8, the ninth face B9, and the tenth face B10 and is interconnected through the fourteenth revolute joint N14 of the second substructure; the seventh face B7 of the second substructure is adjacent to the fourteenth face B14 and is interconnected through the fifteenth revolute joint N15 of the second substructure; the eighth face B8 of the second substructure is adjacent to the ninth face B9 and the tenth face B10 and is interconnected through the fourteenth revolute joint N14 of the second substructure; the eighth face B8 of the second substructure is adjacent to the sixteenth face B16 and is interconnected through the sixteenth revolute joint N16 of the second substructure; the ninth face B9 of the second substructure is adjacent to the tenth face B10 and is interconnected through the fourteenth revolute joint N14 of the second substructure. Connections: The ninth face B9 of the second substructure is adjacent to the eleventh face B11 and is connected to each other through the seventeenth revolute joint N17 of the second substructure; the tenth face B10 of the second substructure is adjacent to the twelfth face B12 and is connected to each other through the eighteenth revolute joint N18 of the second substructure; the eleventh face B11 of the second substructure is adjacent to the twelfth face B12, the fourteenth face B14, and the sixteenth face B16 and is connected to each other through the nineteenth revolute joint N19 of the second substructure; the twelfth face B12 of the second substructure is adjacent to the fourteenth face B14 and the sixteenth face B16 and is connected to each other through the nineteenth revolute joint N19 of the second substructure; the thirteenth face B13 of the second substructure is adjacent to the fourteenth face B14 and is connected to each other through the twentieth revolute joint N20 of the second substructure.The thirteenth face B13 of the second substructure is adjacent to the fifteenth face B15 and is connected to each other through the twenty-first revolute joint N21 of the second substructure; the fourteenth face B14 of the second substructure is adjacent to the sixteenth face B16 and is connected to each other through the nineteenth revolute joint N19 of the second substructure; the fifteenth face B15 of the second substructure is adjacent to the sixteenth face B16 and is connected to each other through the twenty-second revolute joint N22 of the second substructure.

[0064] The seventh face B7 of the second substructure shares the fourteenth revolute joint N14 with the eighth face B8, the ninth face B9, and the tenth face B10; the eleventh face B11 of the second substructure shares the nineteenth revolute joint N19 with the twelfth face B12, the fourteenth face B14, and the sixteenth face B16.

[0065] The first surface C1 of the third substructure is adjacent to the second surface C2 and is connected to each other through the first revolute joint P1 of the third substructure; the first surface C1 of the third substructure is adjacent to the third surface C3 and is connected to each other through the second revolute joint P2 of the third substructure; the second surface C2 of the third substructure is adjacent to the fourth surface C4 and is connected to each other through the third revolute joint P3 of the third substructure; the third surface C3 of the third substructure is adjacent to the fourth surface C4 and is connected to each other through the fourth revolute joint P4 of the third substructure.

[0066] The first surface D1 of the fourth substructure is adjacent to the second surface D2 and is connected to each other through the first revolute joint Q1 of the fourth substructure.

[0067] The first surface A1 of the first substructure is adjacent to the fourth surface B4 of the second substructure and is connected to each other through the fifteenth revolute joint M15 of the first substructure (the twenty-third revolute joint N23 of the second substructure); the second surface A2 of the first substructure is adjacent to the third surface B3 of the second substructure and is connected to each other through the sixteenth revolute joint M16 of the first substructure (the twenty-fourth revolute joint N24 of the second substructure); the fifth surface A5 of the first substructure is adjacent to the thirteenth surface B13 and the fourteenth surface B14 of the second substructure and is connected to each other through the seventeenth revolute joint M17 of the first substructure (the twentieth revolute joint N20 of the second substructure). Interconnected; the sixth face A6 of the first substructure is adjacent to the fifteenth face B15 and the sixteenth face B16 of the second substructure and is interconnected through the eighteenth revolute joint M18 of the first substructure (the twenty-second revolute joint N22 of the second substructure); the ninth face A9 of the first substructure is adjacent to the eleventh face B11 of the second substructure and is interconnected through the nineteenth revolute joint M19 of the first substructure (the twenty-fifth revolute joint N25 of the second substructure); the tenth face A10 of the first substructure is adjacent to the twelfth face B12 of the second substructure and is interconnected through the twentieth revolute joint M20 of the first substructure (the twenty-sixth revolute joint N22 of the second substructure). The second substructure's second surface B2 and sixth surface B6 are adjacent to the third substructure's first surface C1 and are connected to each other through the second substructure's fifth revolute joint N5 (the third substructure's eighth revolute joint P8); the second substructure's third surface B3 and fifteenth surface B15 are adjacent to the third substructure's second surface C2 and are connected to each other through the second substructure's seventh revolute joint N7 (the third substructure's fifth revolute joint P5); the second substructure's eighth surface B8 is adjacent to the third substructure's third surface C3 and is connected to the second substructure's twenty-seventh revolute joint N27 (the third substructure's seventh revolute joint). P7) are interconnected; the sixteenth face B16 of the second substructure is adjacent to the fourth face C4 of the third substructure and is interconnected through the twenty-eighth revolute joint N28 of the second substructure (the sixth revolute joint P6 of the third substructure); the tenth face B10 of the second substructure is adjacent to the first face D1 of the fourth substructure and is interconnected through the twenty-ninth revolute joint N29 of the second substructure (the fifth revolute joint Q5 of the fourth substructure); the twelfth face B12 of the second substructure is adjacent to the second face D2 of the fourth substructure and is interconnected through the thirtieth revolute joint N30 of the second substructure (the third revolute joint Q3 of the fourth substructure).

[0068] Based on the connection method between the modules described above, the origami structure diagram provided in this embodiment is as follows: Figure 15 As shown. Figures 16 to 19 These are schematic diagrams of the three-dimensional structure provided in this embodiment, showing folding angles of 80 degrees (folded flat in the X direction), 90 degrees, 135 degrees, and 180 degrees (folded flat and self-locking in the Z direction) during the origami structure's movement.

[0069] It is evident that the origami structure described above can achieve the folding and unfolding effect required by this invention as long as it meets the aforementioned constraints, i.e., as long as the connection method of the rotating joint is satisfied. The rotating joint can be a hinge, a hinge clasp, or a bearing; the length of the rotating joint is not limited, as long as it constitutes a rotating joint. The thickness of each surface can be freely selected as needed. The origami structure of this invention has one degree of freedom, and the folding and unfolding of the structure can be completed by setting a single drive. Because the origami structure proposed in this invention has a single degree of freedom and a simple unit structure, it has advantages such as simple installation, convenient operation, and easy transportation, and is particularly suitable for application in metamaterial structures, civil engineering structures, building load-bearing structures, and aerospace fields.

[0070] This invention is not limited to the embodiments described above. The above description of specific embodiments is intended to illustrate and explain the technical solutions of this invention. The specific embodiments described above are merely illustrative and not restrictive. Without departing from the spirit and scope of the claims, those skilled in the art can make many specific modifications based on the teachings of this invention, and these modifications all fall within the scope of protection of this invention.

Claims

1. A foldable and load-bearing origami structure, characterized in that, It includes four substructures, namely the first substructure, the second substructure, the third substructure, and the fourth substructure; the first substructure consists of 12 faces, the second substructure consists of 16 faces, the third substructure consists of 4 faces, and the fourth substructure consists of 2 faces; the second substructure is connected to the first substructure, the third substructure, and the fourth substructure respectively; each substructure has several revolute joints. The origami structure can be folded and unfolded as a whole in one direction within the plane, which is determined by the plane at the connection between the first substructure and the second substructure; the first part is the folding and unfolding of the first substructure, and the second part is the folding and unfolding of the first, third and fourth substructures. The origami structure is divided into two parts by the plane determined by the connection between the second substructure and the third and fourth substructures in another direction within the plane. The first part is mainly the folding and unfolding of the first and second substructures. The second part is self-locking after the first and second substructures are folded because the third and fourth substructures cannot be folded.

2. The origami structure that can be folded and carried on a load according to claim 1, characterized in that, The first surface of the first substructure is adjacent to the second surface and connected to each other through the first revolute joint of the first substructure; the first surface of the first substructure is adjacent to the fourth surface and connected to each other through the second revolute joint of the first substructure; the first surface of the first substructure is adjacent to the fifth surface and connected to each other through the third revolute joint of the first substructure; the second surface of the first substructure is adjacent to the third surface and connected to each other through the fourth revolute joint of the first substructure; the second surface of the first substructure is adjacent to the sixth surface and connected to each other through the fifth revolute joint of the first substructure; the third surface of the first substructure is adjacent to the fourth surface and connected to each other through the sixth revolute joint of the first substructure; the third surface of the first substructure is adjacent to the eighth surface and connected to each other through the seventh revolute joint of the first substructure; the fourth surface of the first substructure is adjacent to the seventh surface and connected to each other through the eighth revolute joint of the first substructure; the fifth surface of the first substructure is adjacent to the sixth, ninth, and tenth surfaces and connected to each other through the ninth ... The first substructure has seven adjacent faces connected to each other via the tenth revolute joint of the first substructure; the first substructure has six adjacent faces and eight adjacent faces connected to each other via the eleventh revolute joint of the first substructure; the first substructure has six adjacent faces and nine and ten adjacent faces connected to each other via the seventh revolute joint of the first substructure; the first substructure has seven adjacent faces and eight, eleven, and twelfth adjacent faces connected to each other via the twelfth revolute joint of the first substructure; the first substructure has eight adjacent faces and eleven and twelfth adjacent faces connected to each other via the twelfth revolute joint of the first substructure; the first substructure has nine adjacent faces and ten adjacent faces connected to each other via the ninth revolute joint of the first substructure; the first substructure has nine adjacent faces and eleven adjacent faces connected to each other via the thirteenth revolute joint of the first substructure; the first substructure has ten adjacent faces and twelfth adjacent faces connected to each other via the fourteenth revolute joint of the first substructure; the first substructure has eleven adjacent faces and twelfth adjacent faces connected to each other via the twelfth revolute joint of the first substructure. The first face of the second substructure is adjacent to the second face and connected to each other through the first revolute joint of the second substructure; the first face of the second substructure is adjacent to the fourth face and connected to each other through the second revolute joint of the second substructure; the first face of the second substructure is adjacent to the fifth face and connected to each other through the third revolute joint of the second substructure; the second face of the second substructure is adjacent to the third face and connected to each other through the fourth revolute joint of the second substructure; the second face of the second substructure is adjacent to the sixth face and connected to each other through the fifth revolute joint of the second substructure; the third face of the second substructure is adjacent to the fourth face and connected to each other through the sixth revolute joint of the second substructure; the third face of the second substructure is adjacent to the fifteenth face and connected to each other through the seventh revolute joint of the second substructure. The fourth and thirteenth faces of the second substructure are adjacent and connected to each other through the eighth revolute joint of the second substructure; the fifth and sixth faces of the second substructure are adjacent and connected to each other through the ninth revolute joint of the second substructure; the fifth and seventh faces of the second substructure are adjacent and connected to each other through the tenth revolute joint of the second substructure; the fifth and thirteenth faces of the second substructure are adjacent and connected to each other through the eleventh revolute joint of the second substructure; the sixth and eighth faces of the second substructure are adjacent and connected to each other through the twelfth revolute joint of the second substructure; the sixth and fifteenth faces of the second substructure are adjacent and connected to each other through the thirteenth revolute joint of the second substructure; the seventh face of the second substructure is adjacent and connected to the eighth, ninth, and tenth faces through... The fourteenth revolute joint of the second substructure is interconnected; the seventh face of the second substructure is adjacent to the fourteenth face and interconnected through the fifteenth revolute joint of the second substructure; the eighth face of the second substructure is adjacent to the ninth and tenth faces and interconnected through the fourteenth revolute joint of the second substructure; the eighth face of the second substructure is adjacent to the sixteenth face and interconnected through the sixteenth revolute joint of the second substructure; the ninth face of the second substructure is adjacent to the tenth face and interconnected through the fourteenth revolute joint of the second substructure; the ninth face of the second substructure is adjacent to the eleventh face and interconnected through the seventeenth revolute joint of the second substructure; the tenth face of the second substructure is adjacent to the twelfth face and interconnected through the eighteenth revolute joint of the second substructure; the second The eleventh face of the substructure is adjacent to the twelfth, fourteenth, and sixteenth faces and interconnected through the nineteenth revolute joint of the second substructure; the twelfth face of the second substructure is adjacent to the fourteenth and sixteenth faces and interconnected through the nineteenth revolute joint of the second substructure; the thirteenth face of the second substructure is adjacent to the fourteenth face and interconnected through the twentieth revolute joint of the second substructure; the thirteenth face of the second substructure is adjacent to the fifteenth face and interconnected through the twenty-first revolute joint of the second substructure; the fourteenth face of the second substructure is adjacent to the sixteenth face and interconnected through the nineteenth revolute joint of the second substructure; the fifteenth face of the second substructure is adjacent to the sixteenth face and interconnected through the twenty-second revolute joint of the second substructure. The first face of the third substructure is adjacent to the second face and is connected to each other through the first revolute joint of the third substructure; the first face of the third substructure is adjacent to the third face and is connected to each other through the second revolute joint of the third substructure; the second face of the third substructure is adjacent to the fourth face and is connected to each other through the third revolute joint of the third substructure; the third face of the third substructure is adjacent to the fourth face and is connected to each other through the fourth revolute joint of the third substructure. The first and second faces of the fourth substructure are adjacent to each other and are connected to each other through the first revolute joint of the fourth substructure. The first face of the first substructure is adjacent to the fourth face of the second substructure and connected to each other through the fifteenth revolute joint of the first substructure and the twenty-third revolute joint of the second substructure; the second face of the first substructure is adjacent to the third face of the second substructure and connected to each other through the sixteenth revolute joint of the first substructure and the twenty-fourth revolute joint of the second substructure; the fifth face of the first substructure is adjacent to the thirteenth and fourteenth faces of the second substructure and connected to each other through the seventeenth revolute joint of the first substructure and the twentieth revolute joint of the second substructure; the sixth face of the first substructure is adjacent to the fifteenth and sixteenth faces of the second substructure and connected to each other through the eighteenth revolute joint of the first substructure and the twenty-second revolute joint of the second substructure; the ninth face of the first substructure is adjacent to the eleventh face of the second substructure and connected to each other through the nineteenth revolute joint of the first substructure and the twenty-fifth revolute joint of the second substructure; the tenth face of the first substructure is adjacent to the twelfth face of the second substructure and connected to each other through the twentieth revolute joint of the first substructure and the twenty-sixth revolute joint of the second substructure. The moving joints are interconnected; the second and sixth faces of the second substructure are adjacent to the first face of the third substructure and interconnected through the fifth revolute joint of the second substructure and the eighth revolute joint of the third substructure; the third and fifteenth faces of the second substructure are adjacent to the second face of the third substructure and interconnected through the seventh revolute joint of the second substructure and the fifth revolute joint of the third substructure; the eighth face of the second substructure is adjacent to the third face of the third substructure and interconnected through the twenty-seventh revolute joint of the second substructure and the seventh revolute joint of the third substructure; the sixteenth face of the second substructure is adjacent to the fourth face of the third substructure and interconnected through the twenty-eighth revolute joint of the second substructure and the sixth revolute joint of the third substructure; the tenth face of the second substructure is adjacent to the first face of the fourth substructure and interconnected through the twenty-ninth revolute joint of the second substructure and the fifth revolute joint of the fourth substructure; the twelfth face of the second substructure is adjacent to the second face of the fourth substructure and interconnected through the thirtieth revolute joint of the second substructure and the third revolute joint of the fourth substructure. In the first part of the origami structure, which involves folding and unfolding the entire structure in one direction, the folding and unfolding of the first substructure is carried out around the reference plane determined by the second and tenth revolute joints of the first substructure. During folding, the first, second, fifth, sixth, ninth, and tenth faces of the first substructure are folded around the revolute joints on the reference plane in the direction closer to the reference plane, and the third, fourth, seventh, eighth, eleventh, and twelfth faces of the first substructure are folded around the revolute joints on the reference plane in the direction closer to the reference plane, until the first face of the first substructure coincides with the fourth face of the first substructure, and the first substructure is folded from a spatial structure into a planar structure. In the second part, the folding and unfolding of the first, third, and fourth substructures are carried out around the reference plane determined by the second and eleventh revolute joints of the second substructure. During folding, the first, second, fifth, sixth, seventh, eighth, ninth, and tenth faces of the second substructure, the first and third faces of the third substructure, and the first face of the fourth substructure are folded around the revolute joints on the reference plane towards the reference plane. The third, fourth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, and sixteenth faces of the second substructure, the second and fourth faces of the third substructure, and the second face of the fourth substructure are folded around the revolute joints on the reference plane towards the reference plane, until the first face of the second substructure coincides with the fourth face of the second substructure. The second, third, and fourth substructures are then folded from spatial structures into planar structures; the first face of the first substructure... The movements of the fourth, second, third, fifth, seventh, sixth, eighth, ninth, eleventh, tenth, and twelfth faces of the second substructure are symmetrical based on the reference plane. The movements of the first, fourth, second, third, fifth, thirteenth, sixth, fifteenth, seventh, fourteenth, eighth, sixteenth, ninth, eleventh, tenth, and twelfth faces of the second substructure are symmetrical based on the reference plane. The movements of the first, second, third, and fourth faces of the third substructure are symmetrical based on the reference plane. The movements of the first and second faces of the fourth substructure are symmetrical based on the reference plane. Finally, the first face of the first substructure coincides with the fourth face of the second substructure, and the entire unit folds into a planar structure. In the first part of the origami structure's overall folding and unfolding in another direction within the plane, the folding and unfolding of the first substructure revolves around the reference plane determined by the first and sixth revolving joints of the first and second substructures. During folding, the first, fourth, fifth, seventh, ninth, and eleventh faces of the first substructure fold around the revolving joints on the reference plane towards the direction closer to the reference plane, and the second, third, sixth, eighth, tenth, and twelfth faces of the first substructure fold around the revolving joints on the reference plane towards the direction closer to the reference plane, until the first face of the first substructure coincides with the second face of the first substructure, at which point the first substructure folds from a spatial structure to a planar structure. The first, fourth, fifth, seventh, ninth, eleventh, thirteenth, and fourteenth faces of the second substructure fold around the revolving joints on the reference plane towards the direction closer to the reference plane. Folding occurs in the direction close to the reference plane. The second, third, sixth, eighth, tenth, twelfth, fifteenth, and sixteenth faces of the first substructure fold around the revolute joints on the reference plane in the direction closer to the reference plane, until the first face of the second substructure coincides with the second face of the second substructure. The second substructure folds from a spatial structure into a planar structure. The movements of the first and second faces, the third and fourth faces, the fifth and sixth faces, the seventh and eighth faces, the ninth and tenth faces, the eleventh face and the twelfth face of the first substructure are symmetrical about the reference plane. The movements of the first and second faces, the third and fourth faces, the fifth and sixth faces, the seventh and eighth faces, the ninth and tenth faces, the eleventh face and the twelfth face, the thirteenth face and the fifteenth face, the fourteenth face and the sixteenth face of the second substructure are symmetrical about the reference plane.

3. The foldable and load-bearing origami structure according to claim 1, characterized in that, To ensure geometric compatibility, both the first and second substructures have a side length of 'a' and an angle of 'a'. The first substructure is composed of parallelogram-shaped surfaces; the second and third substructures are composed of rectangular surfaces with side lengths a and b, respectively.

4. The foldable and load-bearing origami structure according to claim 1, characterized in that, In the third and fourth substructures, the axes of all revolute joints are parallel to each other.

5. The foldable and load-bearing origami structure according to claim 1, characterized in that, The origami structure is determined by the motion process and has 1 degree of freedom.

6. The foldable and load-bearing origami structure according to claim 1, characterized in that, All revolute joints are any one of the following: hinges, pivots, or bearings.

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