A foldable polygonal multi-unit load-bearing structure based on rigid origami

Abstract

This invention discloses a foldable polygonal multi-unit load-bearing structure based on rigid origami, comprising a mother unit and sub-units; the sub-units and the mother unit are in a relationship of congruence, proportional scaling, mirror image, or mirror image followed by proportional scaling; the mother unit and sub-units each include a central face and three or more modules; the number of sub-units is the same as the number of sides of the central face of the mother unit; the central face is a regular polygon with at least 3 sides; the number of modules is the same as the number of sides of the central face; each module includes two congruent right-angled triangular faces and a rectangular face whose long side and short side are the same as the long side and short side of the right-angled triangle, respectively, which are the first face, the second face, and the third face in sequence; the first face, the second face, and the third face in each module are connected in sequence, and one side of the third face of each module is connected to one side of the first face of the next module.

Description

Technical Field

[0001] This invention relates to the field of foldable polygonal structures, and in particular to a foldable polygonal multi-unit load-bearing structure with multi-unit expansion characteristics, high folding ratio, rigid folding, high load-bearing capacity, and reconfigurability. Background Technology

[0002] Foldable structures are function-based, shape-variable structures that can transform from a compact folded state to a controllable unfolded state. In most cases, the folded state is used for storage and transportation, while the unfolded state is used for operational needs. Due to their excellent folding properties, foldable structures are currently used in various engineering fields. For example, in civil engineering, foldable refuges, foldable bridges, and other foldable plate structures and foldable rod structures play an important role in emergency rescue and disaster relief due to their rapid construction and convenient transportation. In the medical field, foldable medical devices, such as vascular stents and origami-style surgical forceps, have enabled the miniaturization of devices and more complex operations.

[0003] There are many types of foldable structures, which can be classified into one-dimensional rod-shaped foldable structures, two-dimensional planar foldable structures, and three-dimensional volumetric foldable structures based on their geometric shape when deployed. One-dimensional rod-shaped foldable structures mainly involve folding in a single direction, such as space extension arms; two-dimensional planar foldable structures mainly involve the folding of planes and curved surfaces, such as solar arrays and satellite antennas; three-dimensional volumetric foldable structures mainly involve the folding of spheres, polyhedra, prisms, etc. Most of these foldable structures use non-rigid deformation to achieve folding, such as car airbags and flexible space capsules. Summary of the Invention

[0004] The purpose of this invention is to overcome the shortcomings of existing technologies and provide a foldable polygonal multi-unit load-bearing structure based on rigid origami. This structure has an unfolded state and a folded state; the folded state can form two modes. In mode one, multiple units are nested together, achieving small-space storage while greatly enhancing load-bearing capacity; in mode two, multiple units are arranged in a ring, enabling the structure to perform load-bearing and other functions over a larger area. When unfolded, the shape is regular, facilitating storage and providing good mobility. The structure has a simple composition, variable folding direction, adjustable geometric parameters, theoretically infinite expansion capability, and can be mass-produced. Based on these advantages, this invention has significant implications and broad application prospects in fields such as home furnishings, packaging, civil engineering, construction, and aerospace.

[0005] The objective of this invention is achieved through the following technical solution:

[0006] A foldable polygonal multi-unit load-bearing structure based on rigid origami includes a mother unit and sub-units; the sub-units are congruent to the mother unit, or proportionally scaled, mirrored, or mirrored and proportionally scaled; both the mother unit and sub-units consist of a central face and three or more modules; the number of sub-units is the same as the number of sides of the central face of the mother unit; the central face is a regular polygon with more than 3 sides; the number of modules is the same as the number of sides of the central face; each module includes two congruent right-angled triangular faces and a rectangular face whose long side and short side are the same as the long side and short side of the right-angled triangle, respectively, which are the first face, the second face, and the third face in sequence; the first face, the second face, and the third face in each module are connected in sequence, and one side of the third face of each module is connected to one side of the first face of the next module;

[0007] The center surface is adjacent to the first surface of each module and connected by a first revolute joint; the first surface of each module is adjacent to the second surface and connected by a second revolute joint; the second surface of each module is adjacent to the third surface and connected by a third revolute joint; the third surface of each module is adjacent to the first surface of the next adjacent module and connected by a fourth revolute joint.

[0008] During the folding and unfolding process of the load-bearing structure, the modules of each unit can rotate and fold around the corresponding rotating joints; when each unit is folded, the first and second surfaces completely overlap, and the overlapped first and second surfaces partially overlap with the third surface; the modules of each unit are spatially rotationally symmetrical about the axis of the corresponding unit's central plane.

[0009] Furthermore, based on the arrangement of each unit, there are two modes of load-bearing structure:

[0010] In Mode 1, the arrangement is centered on a mother unit, with each sub-unit evenly distributed inwards. Each sub-unit is scaled down proportionally. The third face of any module in each sub-unit is connected to the third faces of each module in the mother unit via connecting modules. The connecting modules are rectangular. The connecting modules are connected to the third faces of modules in the mother unit and the third faces of any module in the sub-unit via revolute joints. In the final folded state, the axes of the central faces of the sub-units and the mother unit coincide, and the corresponding folded bodies of each unit face the same direction, achieving nested folding.

[0011] In Mode 2, the arrangement is centered on the mother unit, with each sub-unit evenly distributed outward from the mother unit. The sub-units are congruent or mirror images of the mother unit. The third face of any module of each sub-unit is connected to the third face of each module of the mother unit in sequence through a revolute joint. After each sub-unit is connected to the mother unit through a corresponding revolute joint, it is then connected to the third face of the module of the adjacent sub-unit through a revolute joint. In the final folded state, the center planes of the sub-units and the mother unit are on the same plane, achieving a wraparound fold.

[0012] Furthermore, both the parent unit and the child unit have two unfolding and folding methods: inward and outward.

[0013] Furthermore, by connecting the sides of several load-bearing structures, it is possible to combine several load-bearing structures.

[0014] Furthermore, the inwardly folded load-bearing structure achieves self-locking in its final folded state due to the direction of the load-bearing force being perpendicular to its unfolding direction, as well as additional locking due to geometric thickness interference, thus possessing load-bearing capacity.

[0015] Furthermore, by adjusting the combination of inward and outward folding, two configurations, nested folding and wrap-around folding, can be achieved on the same load-bearing structure.

[0016] Furthermore, by changing the number of sides of the polygon on the central face, as well as the angle of each vertex and the side length between vertices, the geometry of the parent unit and the child unit can be changed, thereby adjusting the folding characteristics and load-bearing capacity of the load-bearing structure.

[0017] Furthermore, the revolute joint is one of a hinge, a hinge assembly, or a bearing.

[0018] Compared with the prior art, the beneficial effects of the technical solution of the present invention are:

[0019] 1. The foldable polygonal multi-unit load-bearing structure of the present invention has good scalability and can theoretically be expanded infinitely outward or inward from the parent unit.

[0020] 2. The foldable polygonal multi-unit load-bearing structure of the present invention has two unit arrangement methods, which have completely different folding characteristics and load-bearing capacity, and can be adjusted and adapted to different working states, with high flexibility.

[0021] 3. The foldable polygonal multi-unit load-bearing structure of the present invention has a single-layer thickness in the unfolded state and a total height of a three-dimensional solid in the folded state, with a large folding-to-unfolding ratio; the folded structure can be fully unfolded, and the unfolded shape is regular, which is convenient for storage and has good mobility.

[0022] 4. The foldable polygonal multi-unit load-bearing structure of the present invention can achieve a larger folding ratio compared to a single unit, and can be applied to the design of packaging materials and new home furnishings.

[0023] 5. The foldable polygonal multi-unit load-bearing structure of the present invention can be designed with folding and load-bearing characteristics by changing the number of sides, included angle and side length of the polygonal cross section, and can be used for innovative design in furniture, civil engineering, aerospace and other fields.

[0024] 6. The folding process of the foldable polygonal multi-unit bearing structure of the present invention is simple. Each unit can be decomposed into multiple steps corresponding to the number of polygonal sides, and each step is a controllable single-degree-of-freedom folding.

[0025] 7. The foldable polygonal multi-unit load-bearing structure of the present invention has a self-locking characteristic due to the direction of the load-bearing force being perpendicular to its unfolding movement direction, and additional locking due to geometric thickness interference, thus possessing high load-bearing capacity.

[0026] 8. The foldable polygonal multi-unit load-bearing structure of the present invention has high load-bearing capacity and can be applied to energy-absorbing materials. It has good extended applications in civil engineering, aerospace and other fields.

[0027] 9. The foldable polygonal multi-unit load-bearing structure of the present invention can be combined and assembled vertically with identical modules, thereby further improving the load-bearing capacity of the structure and thus having better application prospects.

[0028] 10. The foldable polygonal multi-unit load-bearing structure of the present invention has a simple form and is easy to process, manufacture and mass-produce. Attached Figure Description

[0029] Figure 1-1 The diagram shows a regular hexagon in Example 1, which serves as the center surface of the load-bearing structural unit.

[0030] Figures 1-2 to 1-6 This is a schematic diagram of the sequential design of the modules corresponding to the mother unit in Example 1.

[0031] Figure 2-1 This is a schematic diagram of the modular planar unfolding of the load-bearing structural mother unit in Embodiment 2.

[0032] Figure 2-2 This is a schematic diagram of the middle folded state (inward fold) of the parent unit module. Figure 2-3 This is a schematic diagram of the module's state after mirroring (outward fold).

[0033] Figure 2-4 This is a planar unfolded schematic diagram of the parent unit of the load-bearing structure in Embodiment 2. The design of the parent unit is based on the example of a regular hexagon with a central plane.

[0034] Figures 2-5 to 2-9 This is a schematic diagram of the sequential folding of the parent unit structure of the load-bearing structure in Embodiment 2.

[0035] Figure 3 This is a schematic diagram showing the unfolded state of the load-bearing structure in Mode 1, where the central face of each unit is a regular hexagon. It is used to illustrate the design and folding process of the load-bearing structure of the present invention in Mode 1. The design of the mother unit is based on an example where the central face is hexagonal.

[0036] Figures 4-1 to 4-9 for Figure 3 A schematic diagram of sequential folding in the first arrangement of the load-bearing structure mode.

[0037] Figure 5 This diagram illustrates the unfolded state of a foldable polygonal multi-unit load-bearing structure in Mode 2, where the center face of each unit is a regular hexagon. It serves to explain the design and folding process of the foldable polygonal multi-unit load-bearing structure specified in this invention under Mode 2. The design of the mother unit is based on an example where the center face is hexagonal.

[0038] Figures 6-1 to 6-2 This is a schematic diagram of the sequential folding of the second arrangement of the foldable polygonal multi-unit load-bearing structure in Embodiment 6. Detailed Implementation

[0039] 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.

[0040] Example 1:

[0041] In this embodiment, a regular hexagon is used as an example to illustrate the design method of the parent unit.

[0042] like Figure 1-1 Draw a regular hexagon, where the vertices of the regular hexagon are named feature points a1-a6, and the sides of the regular hexagon are named feature sides B1-B6.

[0043] like Figure 1-2 The design follows a counter-clockwise folding sequence. Each feature point involves three feature lines: the extension line, the angle bisector, and the perpendicular line (the extension line is an auxiliary line to the angle bisector, represented by a dashed line). Starting from point a1, extend side B1 to obtain the extension line E1, and draw the angle bisector D1 between E1 and side A2, as well as the perpendicular line C1 to side B1.

[0044] like Figure 1-3 Similarly, for the other five feature points, construct three feature lines for each of feature points a2, a3, a4, a5, and a6 using the same method. These lines are extensions E2, E3, E4, E5, and E6; angle bisectors D2, D3, D4, D5, and D6; and perpendiculars C2, C3, C4, C5, and C6.

[0045] like Figure 1-4The angle bisector passing through each point intersects the perpendicular line passing through the next point at points b1, b2, b3, b4, b5, b6. Sides B1, C1, and D6 form right triangle R1; sides B2, C2, and D1 form right triangle R2; sides B3, C3, and D2 form right triangle R3; sides B4, C4, and D3 form right triangle R4; sides B5, C5, and D4 form right triangle R5; and sides B6, C6, and D5 form right triangle R6.

[0046] like Figure 1-5 ,Will Figure 1-4 The six right triangles obtained are mirrored about the angle bisectors of the feature points above the hypotenuses (i.e., the right-angled sides) (R1 mirrored about D6, R2 mirrored about D1, R3 mirrored about D2, R4 mirrored about D3, R5 mirrored about D4, R6 mirrored about D5). This results in congruent right triangles that are symmetrical about the hypotenuses (diagonals) (R1 and R1' are congruent, R2 and R2' are congruent, R3 and R3' are congruent, R4 and R4' are congruent, R5 and R5' are congruent, R6 and R6' are congruent).

[0047] like Figure 1-6 This is a schematic diagram showing the design results of the parent unit of the load-bearing structure in Example 1 and its relationship with the modules. Figure 1-5 Based on the previous operations, rectangle T1 is constructed using B1' and C6 as the long and short sides of a rectangle, and a1' and b6 as the diagonal vertices. Similarly, rectangles T2, T3, T4, T5, and T6 are constructed in the other modules. This folded structure consists of a central plane A1 and six modules P1, P2, P3, P4, P5, and P6. P1 is composed of two congruent right triangles R1 and R1' and a rectangle T1 with both the long and short sides of a right triangle. P2 is composed of two congruent right triangles R2 and R2' and a rectangle T2 with both the long and short sides of a right triangle. P3 is composed of two congruent right triangles R3 and R3' and a rectangle with the long side of a right triangle... The units are: P3, P4, P5, P6, and P7. P3 consists of two congruent right triangles R4 and R4', and a rectangle T4 whose long and short sides are both right triangles. P4 consists of two congruent right triangles R5 and R5', and a rectangle T5 whose long and short sides are both right triangles. P6 consists of two congruent right triangles R6 and R6', and a rectangle T6 whose long and short sides are both right triangles. It is evident that for a unit with a regular polygonal center plane, the modules are geometrically congruent. Therefore, this unit can also be constructed by arranging other modules around the central circle of the center plane after constructing one module. This construction method is simpler. Since the geometric conditions of this embodiment are clearly expressed, the new construction method will not be elaborated further.

[0048] Example 2:

[0049] Furthermore, the motion of the hexagonal unit designed using the design method of Embodiment 1 is described.

[0050] like Figure 2-1 The diagram shows the unfolded pattern of the unit module. The pattern consists of two congruent right triangles with side lengths c and d, and a rectangle with side length d and side length c. As shown in the diagram, the three faces of the module are F1, F2, and F3. The first face F1 is adjacent to the second face F2 and is connected to each other through the first revolute joint G1. The second face F2 is adjacent to the third face F3 and is connected to each other through the second revolute joint G2.

[0051] like Figure 2-2 In this embodiment, the module is folded inward (inward fold). At this time, the crease at the connection between the first surface and the center surface of the module and the valley line of the crease at the connection between the first surface and the second surface of the module are the same; the crease at the connection between the second surface and the third surface of the module is opposite, thus forming a module with a foldable structure.

[0052] Furthermore, if it is necessary to change to an outward folding (outward folding) configuration, then the valley lines of the creases at the connection between the first and center surfaces of the module and the connection between the second and third surfaces of the module are the same; the creases at the connection between the first and second surfaces of the module are opposite, thus forming a module with a foldable structure.

[0053] like Figure 2-3 As shown, the module is mirrored to create a foldable mirror module. Without altering the creases at the joints, the mirror module remains unchanged in terms of its faces, rotational joints, and folding orientation (inward or outward), except for a change in the folding direction. Figure 2-2 Inward folding of the middle module and Figure 2-3 The folds within the module are mirror images of each other. Figure 2-2 Outer fold of the middle module and Figure 2-3 The modules are mirror images of each other. Figure 2-2 and Figure 2-3 Used to describe the connections and composition within a unit module.

[0054] like Figure 2-4 As shown, the parent unit designed according to the design method of Embodiment 1 has a central hexagonal surface, including a central surface I1 and six modules K1, K2, K3, K4, K5, and K6. The central surface I1 is a regular hexagon, and the six modules K1, K2, K3, K4, K5, and K6 have the same structural parameters.

[0055] Center surface I1 is adjacent to the first surface of module K1 and connected to it through the revolute joint H1 of module K1. Similarly, in counterclockwise order, center surface I1 is adjacent to the first surface of module K2 and connected to it through the revolute joint H2 of module K2; center surface I1 is adjacent to the first surface of module K3 and connected to it through the revolute joint H3 of module K3; center surface I1 is adjacent to the first surface of module K4 and connected to it through the revolute joint H4 of module K4; center surface I1 is adjacent to the first surface of module K5 and connected to it through the revolute joint H5 of module K5; center surface I1 is adjacent to the first surface of module K6 and connected to it through the revolute joint H6 of module K6.

[0056] Module K1 and Module K2 are connected by a revolute joint J2; Module K2 and Module K3 are connected by a revolute joint J3; Module K3 and Module K4 are connected by a revolute joint J4; Module K4 and Module K5 are connected by a revolute joint J5; Module K5 and Module K6 are connected by a revolute joint J6, thus forming a foldable hexagonal structure.

[0057] According to the above arrangement and connection method of the unit center plane and modules, Figures 2-5 to 2-9 The sequential folding process for a single unit. Figure 2-5 This represents the fully unfolded state of the foldable hexagonal structure (parent unit). Figures 2-6 to 2-8 This is the middle folded state. Figure 2-9 This represents the fully folded state of the parent unit.

[0058] Example 3

[0059] Furthermore, based on the unit design method and unit folding process described in Examples 1 and 2, this example uses a regular hexagon as the center plane of the mother unit to illustrate the design and folding process of the multi-unit polygonal structure under the first arrangement method.

[0060] like Figure 3 This is a schematic diagram of the unfolded state of a multi-unit load-bearing structure with a hexagonal center plane, arranged in a polygonal configuration. The structure consists of a mother unit L1, six sub-units M1-M6, and six connecting modules N1-N6. The sub-units and the mother unit have a similar proportional relationship (or a similar proportional relationship after mirroring; since after mirroring, it is only necessary to ensure that the axes of the center planes of the sub-units and the mother unit coincide in the final folded state and that the orientation of the corresponding folded bodies of each unit is consistent, this can be achieved by changing the folding rotation direction between the sub-unit modules compared to the non-mirroring operation. In the folding process, the two are essentially the same (the valley lines at the corresponding creases are the same), so this embodiment only describes the structure under the non-mirroring operation). The similarity ratio (scaling ratio) between the sub-units and the mother unit is set as y (y<1). The purpose of scaling is to avoid geometric interference caused by the actual thickness of the model panel, so y can be taken according to the actual thickness.

[0061] The connecting module is rectangular, with its longer side being the same as the side length of the center face of each sub-unit. To ensure that the axes of the center faces of the units coincide in the final folded state, if the side length of the center face of the parent unit is x and the number of sides is n, then the shorter side length of the corresponding connecting module of each unit should be taken as... The parent unit and the child units are connected through connecting modules. For example, the third face of the parent unit module is connected to a long side of the connecting module N1 through a revolute joint Q1, and the connecting module is placed symmetrically with respect to the third face of a certain module of the parent unit. The other long side of the connecting module N1 is then connected to the third face of a certain module of the child unit through a revolute joint S1. Similarly, the third faces of the other modules of the parent unit are respectively connected to a long side of the connecting modules N2-N6 of the child unit to be connected through revolute joints Q2-Q6, and the connecting modules are placed symmetrically with respect to the third faces of the other modules of the parent unit. The other long side of the connecting module is then connected to the third face of a certain module of the child unit through revolute joints S2-S6.

[0062] The final result is as follows Figure 3 The diagram shows a foldable polygonal multi-unit load-bearing structure centered on a mother unit.

[0063] It should be noted that, for the sake of simplicity and intuitiveness, the sub-units are arranged clockwise from largest to smallest. In actual design, the sub-units can be arranged arbitrarily, as long as the final folding condition is met (in the final folding state, the axis of the sub-unit coincides with the axis of the center plane of the parent unit, and the orientation of the corresponding folded body of each unit is consistent (upward or downward).

[0064] Preferably, the length of the long side of the connecting module does not have to be the same as the length of the center face of the sub-unit. It is only necessary to meet the final folding state condition when connecting with the parent unit and the sub-unit (in the final folding state, the axis of the center face of the sub-unit and the parent unit coincides and the orientation of the corresponding folded body of each unit is consistent).

[0065] Furthermore, the designed multi-unit unfolding structure is folded.

[0066] Figures 4-1 to 4-9 This refers to the sequential folding process of a multi-unit unfolding structure.

[0067] Figure 4-1 This represents the fully unfolded planar state of a multi-unit folded structure.

[0068] Figures 4-1 to 4-4 This describes the folding process of a sub-unit in a multi-unit folding structure (bearing structure). In this embodiment, the sub-unit is in an inward folding state; that is, the folds at the connection between the module and the center surface of the sub-unit and the folds at the connection between the first and second surfaces of the module are all mountain folds, while the folds at the connection between the second and third surfaces of the module are the opposite, which are valley folds.

[0069] Figure 4-5 This diagram illustrates the state of the parent unit after the sub-unit has folded itself. At this point, the parent unit is folded inwards, but the valley lines at the corresponding creases of the sub-units are opposite. That is, the creases at the connection between the module and the center surface of the parent unit and the creases at the connection between the first and second surfaces of the module are valley lines, while the creases at the connection between the second and third surfaces of the module are opposite and are mountain lines. This is a necessary condition to ensure that the orientation of the folded bodies of each unit (upward or downward, in this embodiment upward) is consistent in the final folded state.

[0070] Figures 4-6 to 4-9 This diagram illustrates the process of a multi-unit structure expanding inwards after each unit has completed its own folding, with the sub-units nesting and folding into the parent unit. The sub-units are folded into the parent unit in descending order of size. In this embodiment, the scaling ratio decreases sequentially from 0.9 to 0.4 to construct the sub-units.

[0071] Figure 4-9 This is the final folded state of Mode 1 for a multi-unit polygonal folded structure (load-bearing structure). At this point, the axes of the center planes of the sub-units and the parent unit coincide, and the orientation (upward or downward) of the corresponding folded bodies of each unit is consistent. It is easy to see that this construction method successfully achieves the nested expansion of the structure with the parent unit as the center.

[0072] It should be noted that, provided that the size and geometry are in harmony, there is no restriction on the scaling ratio when constructing sub-units. Following the idea of ​​this embodiment, sub-units with different scaling ratios can be constructed to form multi-unit polygon unfolding structures to adapt to different usage scenarios.

[0073] In addition, each unit can choose different unfolding and folding methods (folding inward or outward) by changing the valley line at the corresponding crease of the module, as long as the final folding state condition is met (the axis of the center plane of the sub-unit and the mother unit coincides in the final folding state and the orientation of the corresponding folded body of each unit is consistent (upward or downward)).

[0074] Furthermore, the aforementioned sub-units can be considered as new parent units, and new sub-units can be designed to expand outwards according to the same construction concept as in this embodiment. In this case, the number of sub-units in each new parent unit becomes the number of sides of the new parent unit minus one. Since this embodiment has clearly explained the design concept, the folded structure with more units will not be described again.

[0075] Example 4

[0076] Furthermore, based on the unit design method and unit folding process described in Examples 1 and 2, this example uses a regular hexagon as the center plane of the mother unit to illustrate the design and folding process of the multi-unit polygonal structure under the arrangement of Mode 2.

[0077] like Figure 5 This is a schematic diagram of the unfolded state of a multi-unit load-bearing structure with a hexagonal center plane, arranged in Mode 2. The structure consists of a mother unit T1 and six sub-units U1-U6. The sub-units are congruent to the mother unit (or mirror images of each other; since after mirroring, it is only necessary to ensure that the center planes of the sub-units and the mother unit are on the same plane in the final folded state, this can be achieved by changing the folding rotation direction between the sub-unit modules compared to the non-mirror operation. In the folding process, the two are essentially the same (the valley lines at the corresponding creases are the same), so this embodiment only describes the structure under the non-mirror operation).

[0078] The third face of each module of the parent unit is connected to the third face of any module of each sub-unit in sequence through revolute joints. For example, the third face of a module of the parent unit T1 is connected to the third face of a module of the sub-unit U1 through revolute joint V1; similarly, the third faces of other modules of the parent unit are connected to the third faces of modules of the sub-units U2-U6 that need to be connected through revolute joints V2-V6.

[0079] Each subunit U1-U6 is connected to the parent unit T1 via corresponding revolute joints V1-V6, and then connected to the adjacent face of the adjacent subunit (the third face of a module of the adjacent subunit) via revolute joints W1-W6 in sequence; that is, the third face of a module of subunit U1 is connected to the adjacent face of the adjacent subunit U6 via revolute joint W1; similarly, the third face of a module of subunit U2 is connected to the adjacent face of the adjacent subunit U1 via revolute joint W2; the third face of a module of subunit U3 is connected to the adjacent face of the adjacent subunit U2 via revolute joint W3; the third face of a module of subunit U4 is connected to the adjacent face of the adjacent subunit U3 via revolute joint W4; the third face of a module of subunit U5 is connected to the adjacent face of the adjacent subunit U4 via revolute joint W5; and the third face of a module of subunit U6 is connected to the adjacent face of the adjacent subunit U5 via revolute joint W6.

[0080] Ultimately, the final result is as follows Figure 5 The diagram shows a foldable polygonal multi-unit load-bearing structure that expands outward from the parent unit.

[0081] Furthermore, the designed multi-unit unfolding structure is folded.

[0082] Figure 6-1 This represents the fully planar unfolded state of a multi-unit folded structure.

[0083] Figures 6-1 to 6-2 This refers to the sequential folding process of a multi-unit unfolding structure. Figure 6-2 This diagram illustrates the structural state after folding, specifically the fully folded state of the multi-unit folded structure, where the center planes of the sub-units and the parent unit are on the same plane. This construction method successfully achieves a structure that expands outwards from the parent unit as the center.

[0084] In this embodiment, both the sub-unit and the parent unit are in an inward folded state; that is, the creases at the connection between the module and the center surface in the parent unit and the sub-unit, as well as the creases at the connection between the first and second surfaces of the module, are all valley creases, while the creases at the connection between the second and third surfaces of the module are the opposite, and are mountain creases.

[0085] Preferably, each unit can select different unfolding and folding methods (folding inward or outward) by changing the valley line at the corresponding crease of the module, as long as the final folding state condition is met (the center planes of the sub-unit and the parent unit are on the same plane in the final folding state).

[0086] Preferably, the sub-unit can be regarded as a new parent unit, and new sub-units can be designed to expand outward according to the same construction concept as in this embodiment. At this time, the parent unit of the original sub-unit and the sub-units adjacent to the sub-unit are all regarded as sub-units of the new parent unit. Since this embodiment has clearly explained the design concept, the situation of folded structure with more units will not be described again.

[0087] 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 rigid origami-based foldable polygonal multi-cell bearing structure, characterized by, The application relates to a rigid foldable polygon multi-unit bearing structure based on rigid foldable paper. The mother unit and the subunit are in full equivalence or proportional scaling or mirroring or mirroring and proportional scaling relationship; the mother unit and the subunit are both composed of a central surface and more than three modules; the number of the subunits is the same as the number of edges of the central surface of the mother unit; the central surface is a regular polygon with more than three edges; the number of the modules is the same as the number of edges of the central surface; each module comprises two full equivalent right-angled triangular surfaces and a rectangular surface with a long side and a short side the same as the long side and the short side of the right-angled triangular surface, sequentially being a first surface, a second surface and a third surface; the first surface, the second surface and the third surface in each module are sequentially connected in order, and one edge of the third surface of each module is connected with one edge of the first surface of the next module; The central surface is adjacent to the first surface of each module and is connected through a first rotating pair; the first surface of each module is adjacent to the second surface and is connected through a second rotating pair; the second surface of each module is adjacent to the third surface and is connected through a third rotating pair; the third surface of each module is adjacent to the first surface of the next module and is connected through a fourth rotating pair; In the folding and unfolding process of the bearing structure, the modules of each unit can rotate and fold around the corresponding rotating pairs; in the folded state of each unit, the first surface and the second surface are completely overlapped, and the overlapped first surface and the second surface are partially overlapped with the third surface; the modules of each unit are rotationally symmetrically distributed in space about the central surface axis of the corresponding unit; According to the arrangement mode of each unit, the bearing structure has two modes, mode one is that the subunits are uniformly arranged towards the inside of the mother unit with the mother unit as the center; mode two is that the subunits are uniformly arranged towards the outside of the mother unit with the mother unit as the center; the mother unit and the subunit have two kinds of unfolding and folding modes, namely, the inward and outward modes.

2. The rigid foldable polygon multi-unit bearing structure based on rigid foldable paper according to claim 1, wherein in mode one, the subunits are sequentially reduced in size; the third surface of any module of each subunit is sequentially connected with the third surface of each module of the mother unit through a connecting module; the connecting module is a rectangular surface; the connecting module, the third surface of the module of the mother unit and the third surface of any module of the subunit are connected through rotating pairs; in the final folded state, the central surface axes of the subunit and the mother unit are coincident, and the corresponding folded bodies of each unit are consistent in direction, so that nested folding is realized; 3. A rigid origami based deployable polygonal multi-cell bearing structure according to claim 1, wherein, in mode two, the subunit and the mother unit are in full equivalence or mirroring relationship; the third surface of any module of each subunit is sequentially connected with the third surface of each module of the mother unit through rotating pairs; after each subunit is connected with the mother unit through the corresponding rotating pairs, the third surface of the module of each subunit is connected with the third surface of the module of the adjacent subunit through rotating pairs; in the final folded state, the central surfaces of the subunit and the mother unit are in the same plane, so that ringed folding is realized.

4. The rigid origami based foldable polygonal multi-cell bearing structure of claim 1, wherein, Through the connection between the side surfaces of the bearing structures, the combination between the bearing structures can be realized. In the final folded state of the inwardly folded bearing structure, the direction of the bearing force is perpendicular to the unfolding movement direction, so that the structure is self-locked, and the geometric thickness interference additionally locks the structure, thereby realizing the bearing performance.

5. The rigid origami based foldable polygonal multi-cell bearing structure of claim 1, wherein, By adjusting the combination of inward folding and outward folding, both nested folding and surrounding folding configurations can be realized on the same load-bearing structure.

6. A rigid origami based foldable polygonal multi-cell bearing structure according to claim 1, wherein, By changing the number of sides of the polygonal central surface, as well as the angles of the vertices and the lengths of the sides between the vertices, the geometry of the parent unit and the child units can be changed, thereby adjusting the folding characteristics and load-bearing capacity of the load-bearing structure.

7. The rigid origami-based foldable polygonal multi-cell bearing structure of claim 1, wherein, The rotational pair is one of a hinge, a hinge pin, and a bearing.

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