Bidirectional extended thick sheet paper-cutting array deployable structure

Abstract

The application discloses a bidirectional expansion thick plate paper-cut array deployable structure, which meets folding conditions and does not generate motion interference, and comprises a first thick plate paper-cut array and a scissors driving mechanism matched with the first thick plate paper-cut array to realize unfolding and folding of the first thick plate paper-cut array; the first thick plate paper-cut array is composed of eight first-type basic folding and unfolding units and 52 plate surfaces connected through hinge hinges; the hinge hinges are bolted with the plates; eight plate surfaces form a first-type basic folding and unfolding unit; the first-type basic folding and unfolding unit is networked and constructed into an array through longitudinal and transverse expansion. The thick plate paper-cut array is coupled with the scissors driving mechanism to realize stable unfolding of the thick plate paper-cut array, and solves the problems of small folding and unfolding ratio, uneven working surface, limited working area and single unfolding form of the existing deployable structure.

Description

Technical Field

[0001] This invention relates to the field of thick-plate paper-cutting array technology, and in particular to a bidirectional expandable structure for thick-plate paper-cutting arrays. Background Technology

[0002] Deployable structures are structures with variable configurations, gradually unfolding from a folded / collapsed state to a fully deployed state under external force, and finally locking into a stable working state. In the fully folded and deployed states, deployable structures exhibit stable "structures," while during unfolding, they possess the characteristics of a "mechanism" with degrees of freedom of movement. Deployable structures can be easily transported and stored in their non-working state, while in their working state, they can perform corresponding tasks. They are widely used in various engineering fields, especially in space deployable structures, which have greatly improved the transportation capabilities of space launch vehicles, providing tools and platforms for further human exploration of space. Currently, space deployable structures are widely used in spacecraft equipment such as spaceborne antennas, spaceborne radars, solar arrays, space deployable robotic arms, and space telescopes.

[0003] With the increasing complexity and diversification of space missions, the demand for space deployable structures with large fold-to-spread ratios, high stiffness, high stability, and lightweight properties has become more urgent. In recent years, novel folding methods have been developed, such as over-constraint meshing, origami, and paper cutting, to design space deployable structures with large fold-to-spread ratios and good folding characteristics. However, due to the geometric constraints of over-constraint mechanisms, they cannot be widely applied in engineering practice. Since origami is an art form that folds a two-dimensional structure into a three-dimensional model according to the creases, various deployable structures can be obtained through programmable and innovative design of the crease distribution. However, origami-based deployable structures may suffer from constraints redundancy and incompletely flat working surfaces.

[0004] To overcome the aforementioned problems with origami, researchers began to consider using a paper-cutting folding method. By cutting off some of the creases in the origami, some constraints are released, making it easier to construct a flat surface for the unfoldable structure and solving the problem that thick origami cannot be folded.

[0005] However, existing origami and paper-cutting unfoldable arrays can only expand in one direction, have limited working area, and the unfolded surface is uneven. Therefore, further improvements are needed. Summary of the Invention

[0006] The purpose of this invention is to overcome the defects in the existing technologies and provide a bidirectional expandable thick plate paper-cutting array structure. By coupling the thick plate paper-cutting array with a scissor-type planar drive mechanism, the smooth unfolding of the thick plate paper-cutting array is achieved, solving the problems of small folding-to-unfolding ratio, uneven working surface, limited working area, and single unfolding form in existing expandable structures.

[0007] In another aspect, the present invention provides a bidirectional expandable thick-plate paper-cutting array deployable structure, derived from a double-vertex nine-fold thick-plate origami unit, combining a single-vertex four-fold origami with a single-vertex six-fold origami to meet folding conditions without causing motion interference. It includes a first thick-plate paper-cutting array and a scissor drive mechanism that cooperates with the first thick-plate paper-cutting array to unfold and retract it. The first thick-plate paper-cutting array consists of eight first-type basic folding and unfolding units, totaling 52 panels connected by hinges, with the hinges bolted to the panel faces. Each set of eight panels constitutes a first-type basic folding and unfolding unit. The first-type basic folding and unfolding units are networked and constructed into an array through longitudinal and lateral expansion.

[0008] The eight first-type basic folding units include first-type basic folding units arranged sequentially from the upper part of the first side to the upper part of the opposite second side, and first-type basic folding units arranged sequentially from the lower part of the second side to the lower part of the second side, for a total of eight folding units;

[0009] In this system, the first type of basic folding unit shares a plate surface and creases with other first type of basic folding units; the shared creases are connected by hinges, while the shared thick plates do not require connection; the peak creases are located on the lower surface of the plate surface connection, and the valley creases are located on the upper surface of the plate surface connection; the revolute joints constructed by the hinges are arranged at the corresponding creases to achieve the folding movement; each first type of basic folding unit has two vertices A and B, connected by plate P. 1-Plate P8 is formed, with plates P1 adjacent to P2, P2 adjacent to P3, P4 adjacent to P3, P4 adjacent to P5, P5 adjacent to P6, P6 adjacent to P7, P7 adjacent to P8, and P8 adjacent to P1. Plates P1 to P8 form a unit structure with two vertices A and B. Plates P1, P2, P3, and P8 are arranged around vertex A, and plates P3, P4, P5, P6, P7, and P8 are arranged around vertex B. α 12 α 23 β3 and β1 are the four inner corners of plates P1, P2, P3 and P8 surrounding vertex A, respectively; β4 and α 45 α 56 α 67 α 78 The peak-valley crease angle parameters of vertices A and B at the six inner corners of plates P3, P4, P5, P6, P7, and P8 of vertex B of β8 satisfy the following conditions:

[0010] β1+β3+α 12 +α 23=2π, β⁴ + β⁸ + α 45 +α 56 +α 67 +α 78 =2π;

[0011] β1+α 23 =β3+α 12 =π, β⁴ + α 45 +α 56 =β8+α 67 +α 78 =π;

[0012] α 56 +α 67 <π, α 12 +α 23 <π, α 45 =α 78 >π / 2, α 12 =α 23 =β4=β8=α 56 =α 67 β1 = β3;

[0013] The thicknesses of plates P1-P8 and the step thicknesses on special plate surfaces are t respectively. 12 , t 23 , t 34 , t 45 , t 56 , t 67 , t 78 , t 81 The first thick-plate paper-cutting array does not have a stepped thickness on its surface.

[0014] The panel thickness meets the following conditions;

[0015] t 12 / sinα 12 =t 23 / sinα 23 , t 12 =t 34 , t 23 =t 81 , t 45 =t 78 , t 56 =t 67 ;

[0016] When appropriate angle and thickness parameters are given based on the above conditions, the first thick-plate paper cutting array can obtain a completely flat working surface.

[0017] The first thick plate paper-cutting array is bolted together with the scissor drive mechanism at the motion coupling point.

[0018] The scissor drive mechanism consists of scissor units, which are driven by a motor to provide driving force during the unfolding process. The motor drives the slider to move on the guide rail, which in turn drives the scissor rod to move, thereby realizing the folding and unfolding movement of the scissor drive mechanism and controlling the folding and unfolding of the first thick plate paper cutting array.

[0019] The first type of basic folding unit is expanded vertically by uniform arrangement and horizontally by alternating arrangement, thus achieving bidirectional expansion and a large folding ratio.

[0020] In this process, each plate of the U-1 thick plate paper-cutting array undergoes surface morphology treatment at a predetermined position. The paper-cutting creases are applied to the thick plate structure to remove the stepped structure on the surface of the component, so that the first thick plate paper-cutting array can achieve the expected relatively flat working surface when unfolded to the working position. At the same time, the plate surface at the hinge mounting point is treated to ensure that there is no interference between the plate surfaces during the folding process.

[0021] In another aspect, the present invention provides another bidirectionally expandable thick plate paper-cutting array unfoldable structure, derived from a double-vertex nine-fold thick plate origami unit, combining a single-vertex four-fold origami with a single-vertex six-fold origami, satisfying the folding conditions without causing motion interference, and having a larger folding-to-unfolding ratio, including a second thick plate paper-cutting array and a scissor drive mechanism that cooperates with the second thick plate paper-cutting array to realize the unfolding and retraction of the second thick plate paper-cutting array; the second thick plate paper-cutting array is composed of four second-type basic folding-to-unfolding units totaling 32 plates, with eight thick plates constituting one second-type basic folding-to-unfolding unit;

[0022] The second type of basic folding unit includes four units: a second type of basic folding unit, a second type of basic folding unit unit, a second type of basic folding unit unit, and a second type of basic folding unit unit. Each second type of basic folding unit consists of plates Q1 to Q8. Plate Q1 is adjacent to Q2, plate Q2 is adjacent to plate Q3, plate Q4 is adjacent to plate Q3, plate Q4 is adjacent to plate Q5, plate Q5 is adjacent to plate Q6, plate Q6 is adjacent to plate Q7, plate Q7 is adjacent to plate Q8, and plate Q8 is adjacent to plate Q1. From plate Q1 to plate Q8, a unit structure with two vertices C and D is formed. Plates Q1, Q2, Q3, and Q8 are arranged around vertex C, and plates Q3, Q4, Q5, Q6, Q7, and Q8 are arranged around vertex B. 12 α 23 β3 and β1 are the four inner corners of plates Q1, Q2, Q3 and Q8 surrounding vertex C, respectively; β4 and α 45 α 56 α 67 α 78The peak-valley crease angle parameters of vertices C and D at the six inner corners of plates Q3, Q4, Q5, Q6, Q7, and Q8 of vertex D of β8 satisfy the following conditions:

[0023] β1+β3+α 12 +α 23 =2π, β⁴ + β⁸ + α 45 +α 56 +α 67 +α 78 =2π;

[0024] β1+α 23 =β3+α 12 =π, β⁴ + α 45 +α 56 =β8+α 67 +α 78 =π;

[0025] α 56 +α 67 <π, α 12 +α 23 <π, α 45 =α 78 >π / 2, α 12 =α 23 =β4=β8=α 56 =α 67 β1 = β3;

[0026] The thicknesses of plates Q1-Q8 and the stepped thicknesses on special plate surfaces are respectively t 12 , t 23 , t 34 , t 45 , t 56 , t 67 , t 78 , t 81 , where t 12 , t 23 , t 34 , t 81 The thickness of the steps on a special plate surface;

[0027] The panel thickness meets the following conditions:

[0028] t 12 / sinα 12 =t 23 / sinα 23 , t 12 =t 34 , t 23 =t 81 , t 45 =t 78 , t 56 =t67 ;

[0029] α 12 =α 23 =β4=β8=α 56 =α 67 , β1=β3.

[0030] When appropriate angle and thickness parameters are given based on the above conditions, the second thick plate paper cutting array can obtain a completely flat working surface.

[0031] In the process of constructing the second thick plate paper-cutting array, a paper-cutting and folding method is adopted. The predetermined plate surfaces are connected by hinges, while the other plate surfaces are not connected, so as to obtain a relatively flat working surface on both sides.

[0032] The bidirectional expandable thick-plate paper-cutting array unfoldable structure of the present invention proposes two bidirectional expandable folding array configurations. Driven by the driving mechanism, the unfolding ratio of the folding array can be further improved, resulting in a larger working space and an almost flat surface, thus promoting the application of origami structures in practical engineering.

[0033] This invention utilizes a first type of basic folding and unfolding unit and a second type of basic folding and unfolding unit as the basis for networking, and proposes two types of bidirectionally expandable thick plate paper-cutting arrays. These two arrays have excellent expansion capabilities in both the vertical and horizontal directions, a large folding-to-unfolding ratio, an almost completely flat unfolded surface with high surface accuracy, and use a scissor drive mechanism to realize unfolding and retraction, with a simple and highly reliable drive form. Attached Figure Description

[0034] Figure 1 This is a schematic diagram of the overall structure of the first thick plate paper-cutting array of the present invention.

[0035] Figure 2 This is a schematic diagram of the structure of the first thick-plate paper-cutting array of the present invention.

[0036] Figure 3 This is a schematic diagram of the structure of the second thick-plate paper-cutting array of the present invention.

[0037] Figure 4 A schematic diagram of the angle parameters of the first basic unfolding unit of the present invention.

[0038] Figure 5 A schematic diagram of the angle parameters of the second basic unfolding unit of the present invention.

[0039] Figure 6 The crease distribution diagram of the first thick-plate paper-cutting array of the present invention.

[0040] Figure 7 The crease distribution diagram of the second thick-plate paper-cutting array of the present invention.

[0041] Figure 8 A schematic diagram of the first thick-plate paper-cutting array formed by networking the first basic folding and unfolding unit of the present invention.

[0042] Figure 9 This is a schematic diagram of the second type of basic folding and unfolding unit network constituting the second thick plate paper-cutting array of the present invention.

[0043] Figure 10 This is a schematic diagram of the unfolding process of the first thick-plate paper-cutting array of the present invention.

[0044] Figure 11 This is a schematic diagram of the unfolding process of the second thick plate paper-cutting array of the present invention.

[0045] Figure 12 This is a schematic diagram of the overall structure of the first thick-plate paper-cutting array of the present invention after it has been folded up.

[0046] Figure 13 This is a schematic diagram showing the unfolded overall structure of the first thick-plate paper-cutting array of the present invention.

[0047] Figure label:

[0048] 1- Paper-cutting array mechanism (formed by the first thick plate paper-cutting array) 2- Scissor drive mechanism. Detailed Implementation

[0049] 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 merely illustrative of the invention and are not intended to limit the invention.

[0050] This invention enables a bidirectionally expandable thick-plate paper-cutting array. It is a paper-cutting array mechanism 1 derived from a double-vertex, nine-fold thick-plate folding unit, comprising two configurations of the bidirectionally expandable thick-plate paper-cutting array and a matching scissor drive mechanism 2. The scissor drive mechanism and the thick-plate paper-cutting mechanism are fixed at the motion coupling point. A motor drives the scissor mechanism to drive the unfolding and retracting movements of the thick-plate paper-cutting array.

[0051] This invention relates to a bidirectional expandable thick-plate paper-cutting array, based on the rigid thick-plate paper-cutting theory and the design of a double-vertex nine-fold folding unit. It includes a first thick-plate paper-cutting array in a first configuration and a first thick-plate paper-cutting array in a second configuration. The expandable arrays of the two configurations have a larger folding-to-expansion ratio and can be infinitely expanded to obtain a larger working area. In the non-working stage, it can be folded into a smaller volume for easy transportation, and in the working stage, it can be unfolded to the expected working position.

[0052] Both types of deployable paper-cutting arrays utilize a scissor mechanism to achieve the entire movement process from the folded state to the fully unfolded state, thereby improving the folding reliability and flexibility of the array. Simultaneously, the thick-plate paper-cutting design eliminates some unnecessary connecting joints, resulting in a completely flat working surface and preventing jamming during movement, thus enhancing the stability of the unfolding process.

[0053] Two configurations of expandable, bidirectionally expandable thick-plate paper-cutting arrays are available, featuring simple configurations, large folding-to-unfold ratios, and almost completely flat unfolded surfaces. The accompanying scissor drive mechanism effectively drives the paper-cutting array for deployment, offering a simple and highly reliable driving mechanism.

[0054] like Figure 1 As shown, the present invention is a bidirectional expandable thick plate paper-cutting array, including a thick plate paper-cutting array and a scissor drive mechanism. The scissor drive mechanism 2 is fixed to the paper-cutting array mechanism 1 at the motion coupling point by bolt connection. The scissor drive mechanism is extended by using a motor to drive the slider to slide and drive the thick plate paper-cutting array to unfold and retract. Figure 2 This is a schematic diagram of the structure of the first thick-plate paper-cutting array; Figure 3 This is a schematic diagram of the structure of the second thick-plate paper-cutting array; the first thick-plate paper-cutting array is obtained through... Figure 4 The first type of basic folding and unfolding unit shown is composed of; the second thick-plate paper-cutting array is composed of Figure 5 The second type of basic folding unit is shown. Both types of thick-plate paper-cutting arrays are constructed using the first and second types of basic folding units, each possessing a unique symmetry.

[0055] For any rigid origami and paper-cutting model, folding can only be achieved if certain constraints are met, namely, the peak-valley crease angle parameters of vertices A and B must meet certain conditions:

[0056] β1+β3+α 12 +α 23 =2π, β⁴ + β⁸ + α 45 +α 56 +α 67 +α 78 =2π;β1+α 23 =β3+α 12 =π, β⁴ + α 45 +α 56 =β8+α 67 +α 78 =π; α 56 +α 67 <π, α 12 +α 23 <π, α 45 =α 78 >π / 2.

[0057] In constructing the first and second basic folding units, the panel thickness must meet certain conditions to ensure the mobility of the thick-plate origami model:

[0058] t 12 / sinα 12 =t 23 / sinα 23 , t 12 =t 34 , t 23 =t 81 , t 45 =t 78 , t 56 =t 67 .

[0059] Among them, the first type of basic folding unit constituting the first thick plate paper-cutting array has the same angular parameters on its upper and lower sides and left and right sides, and its angular parameters and plate thickness satisfy the following relationship:

[0060] α 12 =α 23 =β4=β8=α 56 =α 67 , β1=β3, t 56 =t 67 , t 12 =t 34 =t 23 =t 81 =t 45 =t 78 , t 56 =2t 12 .

[0061] Among them, the second type of basic folding unit constituting the second thick plate folding array has the same angular parameters on its upper and lower sides and left and right sides, and its angular parameters and plate thickness satisfy the following relationship:

[0062] α 12 =α 23 =β4=β8=α 56 =α 67 , β1=β3, t 56 =t 67 =t 45 =t 78 , t 12 =t 34 =t 23 =t 81 =0.

[0063] See Figure 4As shown, in the first type of basic folding unit constituting the first thick plate folding array, rotation pairs Z1-Z8 are formed at the fold lines of two adjacent plates of its eight plates, respectively located between plates P8 and P1, between plates P1 and P2, between plates P2 and P3, between plates P4 and P3, between plates P4 and P5, between plates P5 and P6, between plates P6 and P7, and between plates P7 and P8.

[0064] In the second type of basic folding unit constituting the second thick-plate origami array, such as Figure 5 As shown, revolute joints Z1-Z8 are formed at the creases of two adjacent plates of the eight plates, respectively located between plate Q8 and plate Q1, between plate Q1 and Q2, between plate Q2 and plate Q3, between plate Q4 and plate Q3, between plate Q4 and plate Q5, between plate Q5 and plate Q6, between plate Q6 and plate Q7, and between plate Q7 and plate Q8.

[0065] In this embodiment, Figure 6 The diagram shows the fold distribution of the first thick-plate paper-cutting array formed by a network of fully symmetrical first-class basic folding units, where dashed lines represent valley folds and solid lines represent peak folds; as shown... Figure 8 As shown, hinges are arranged on both sides of the corresponding thick plates to connect adjacent thick plates according to the crease distribution diagram. For example, in the first type of basic unfolding unit 11, plate P11 and plate P12 share a rotation crease; plate P12 and plate P13 share a rotation crease; plate P13 and plate P14 share a rotation crease; plate P14 and plate P15 share a rotation crease; plate P15 and plate P16 share a rotation crease; plate P17 and plate P18 share a rotation crease; and plate P18 and plate P11 share a rotation crease.

[0066] The composition of the first type of basic folding unit 21, the first type of basic folding unit 14, and the first type of basic folding unit 24 is similar to that of the first type of basic folding unit 11. The first type of basic folding unit 12 and the first type of basic folding unit 13 share a thick plate, that is, the plate P34 of the first type of basic folding unit 12 also serves as the plate P42 of the first type of basic folding unit 13.

[0067] The plate P33 of the first type of basic folding unit 12 also serves as the plate P43 of the first type of basic folding unit 13; the plate P32 of the first type of basic folding unit 12 also serves as the plate P44 of the first type of basic folding unit 13; the plate P37 of the first type of basic folding unit 12 also serves as the plate P41 of the first type of basic folding unit 13; the plate P38 of the first type of basic folding unit 12 also serves as the plate P48 of the first type of basic folding unit 13; and the plate P31 of the first type of basic folding unit 12 also serves as the plate P47 of the first type of basic folding unit 13.

[0068] The composition of the first type of basic folding unit 22 and the first type of basic folding unit 23 is similar to that of the first type of basic folding unit 12 and the first type of basic folding unit 13.

[0069] The eight first-class basic folding units formed by the above method are arranged alternately in the horizontal direction and uniformly in the vertical direction to construct the first thick-plate paper-cutting array.

[0070] In the networking process, shared thick plates and creases were used. For example, the P15 thick plate of the first type of basic folding unit 11 and the P35 thick plate of the first type of basic folding unit 12 share a thick plate; the P16 thick plate of the first type of basic folding unit 11 and the P36 thick plate of the first type of basic folding unit 12 share a thick plate; shared thick plates were repeatedly used in the horizontal networking process; shared creases were repeatedly used in the vertical networking process. Figure 10 The diagram shows the unfolding process of the first thick-plate paper-cutting array.

[0071] Figure 7 This is a fold distribution diagram of the second thick-plate paper-cutting array formed by the network of fully symmetrical second-type basic folding and unfolding units. The dashed lines are valley folds, the solid lines are peak folds, and the dashed line segments AB, CD, EF, GH, JK, and LM are paper-cutting marks. These positions are not connected by hinges. Figure 9 To connect adjacent thick plates by arranging hinges on both sides of the thick plates according to the crease distribution diagram, for example, in the second type of basic folding unit 1, plate Q11 and plate Q12 share a rotation crease; in the second type of basic folding unit 1, plate Q12 and plate Q13 share a rotation crease; in the second type of basic folding unit 1, plate Q13 and plate Q14 share a rotation crease; in the second type of basic folding unit 1, plate Q14 and plate Q15 share a rotation crease; in the second type of basic folding unit 1, plate Q15 and plate Q16 share a rotation crease; in the second type of basic folding unit 1, plate Q17 and plate Q18 share a rotation crease; in the second type of basic folding unit 1, plate Q18 and plate Q11 share a rotation crease.

[0072] The second type of basic folding unit 2, the second type of basic folding unit 3, and the second type of basic folding unit 4 are composed in a similar way to the second type of basic folding unit 1.

[0073] The four second-class basic folding units formed in this way are arranged alternately in the horizontal direction and uniformly in the vertical direction. They are cut at the cutting marks AB, CD, EF, GH, JK, and LM according to the paper-cutting marks, and finally the first thick plate paper-cutting array is constructed.

[0074] In the process of networking the second thick plate paper-cutting array, shared thick plates and creases are used. For example, plate Q15 in the second type of basic folding unit 1 and plate Q35 in the second type of basic folding unit 3 share the same thick plate; plate Q16 in the second type of basic folding unit 1 and plate Q36 in the second type of basic folding unit 3 share the same thick plate. Shared thick plates are repeatedly used for networking in the horizontal networking process; shared creases are used for networking in the vertical networking process. Figure 11 The diagram shows the folding and unfolding process of the second thick-plate paper-cutting array.

[0075] In the embodiments of this application, through the above networking method, the two bidirectionally expandable thick plate paper cutting arrays of the present invention have advantages such as a large folding-to-expansion ratio, a large working area, and a relatively flat working surface.

[0076] The specific working process of this invention is as follows:

[0077] In the embodiments of this application, after the thick-plate paper-cutting array 1 and the scissor drive mechanism 2 are fixed together, the scissor drive mechanism is fixed to the mounting surface. A motor drives the slider on the guide rail to move, thereby lengthening or shortening the scissor unit. The thick-plate paper-cutting array also expands and retracts accordingly. Figure 12 , Figure 13 As shown, the unfolding and retracting process of the thick-plate paper-cutting array can be controlled by a motor.

[0078] In the embodiments of this application, the two types of thick-plate paper-cutting arrays can be manufactured by 3D printing, and the processing material is PLA. The selection of this processing method and material makes the processing of complex plate surfaces of the array relatively simple, the structure stable, the weight light, and the cost low.

[0079] In the embodiments of this application, the scissor drive mechanism and the hinge are made of metal, wherein the hinge is installed at the fold of the thick plate paper-cutting array, which has the advantages of high strength and light weight.

[0080] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. It will be apparent to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or basic features of the present invention.

[0081] Therefore, the embodiments should be regarded as exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, it is intended that all variations falling within the meaning and scope of the equivalents of the claims be included within the invention.

[0082] Furthermore, it should be understood that although this specification describes embodiments, not every embodiment contains only one independent technical solution. This narrative style is merely for clarity. Those skilled in the art should consider the specification as a whole, and the technical solutions in each embodiment can also be appropriately combined to form other embodiments that can be understood by those skilled in the art.

Claims

1. A deployable structure for a bidirectionally expandable thick-plate paper-cutting array, characterized in that, Derived from a double-vertex nine-fold thick plate origami unit, this design combines single-vertex four-fold origami with single-vertex six-fold origami to meet folding conditions without causing motion interference. It includes a first thick plate paper-cutting array and a scissor drive mechanism that works in conjunction with the array to unfold and retract it. The first thick plate paper-cutting array consists of eight first-type basic folding and unfolding units, totaling 52 panels connected by hinges, with the hinges bolted to the panels. Each set of eight panels constitutes a first-type basic folding and unfolding unit. These units are networked and constructed into an array through longitudinal and lateral expansion. In this system, adjacent first-type basic folding units share a common plate surface and creases; the shared creases are connected by hinges, while the shared thick plates do not require connection; the peak crease is located on the lower surface of the plate surface connection, and the valley crease is located on the upper surface of the plate surface connection. The revolute joints constructed by the hinges are arranged at the corresponding creases to achieve the folding motion; each first-type basic folding unit has two vertices A and B, and is composed of plates P1 to P8. Plate P1 is adjacent to P2, plate P2 is adjacent to plate P3, plate P4 is adjacent to plate P3, plate P4 is adjacent to plate P5, plate P5 is adjacent to plate P6, plate P6 is adjacent to plate P7, plate P7 is adjacent to plate P8, and plate P8 is adjacent to plate P1. From plate P1 to plate P8, a unit structure with two vertices A and B is formed. Plates P1, P2, P3, and P8 are arranged around vertex A, and plates P3, P4, P5, P6, P7, and P8 are arranged around vertex B. 12 α 23 β3 and β1 are the four inner corners of plates P1, P2, P3 and P8 surrounding vertex A, respectively; β4 and α 45 α 56 α 67 α 78 Let β and β8 be the six inner corners of plates P3, P4, P5, P6, P7, and P8 surrounding vertex B. The peak-valley crease angle parameters of vertices A and B satisfy the following conditions: β1+β3+α 12 +α 23 ＝2π，β4+β8+α 45 +α 56 +α 67 +α 78 ＝2π； β1+α 23 ＝β3+α 12 ＝π，β4+α 45 +α 56 ＝β8+α 67 +α 78 ＝π； α 56 +α 67 ＜π，α 12 +α 23 ＜π，α 45 ＝α 78 ＞π / 2，α 12 ＝α 23 ＝β4＝β8＝α 56 ＝α 67 ，β1＝β3， The thicknesses of plates P1 to P8 are respectively t 12 , t 23 , t 34 , t 45 , t 56 , t 67 , t 78 , t 81， The first type of basic unfolding unit has no stepped thickness on its plate surface; The panel thickness meets the following conditions: t 12 / sina 12 = t 23 / sina 23 ，t 12 = t 34 ，t 23 = t 81 ，t 45 = t 78 ，t 56 = t 67 ； Given appropriate angle and thickness parameters based on the above conditions, the first type of basic unfolding unit can obtain a completely flat working surface; The first type of basic folding unit is expanded vertically by uniform arrangement and horizontally by alternating arrangement, thus achieving bidirectional expansion and a large folding ratio.

2. The deployable structure of the bidirectionally expandable thick-plate paper-cutting array according to claim 1, characterized in that, The first thick plate paper cutting array is fixed at the motion coupling point by bolts and a scissor drive mechanism.

3. The expandable structure of the bidirectionally expandable thick-plate paper-cutting array according to claim 1, characterized in that, The scissor drive mechanism consists of scissor units, which are driven by a motor to provide driving force during the unfolding process. The motor drives the slider to move on the guide rail, which in turn drives the scissor rod to move, thereby realizing the folding and unfolding movement of the scissor drive mechanism and controlling the folding and unfolding of the first thick plate paper cutting array.

4. The expandable structure of the bidirectionally expandable thick-plate paper-cutting array according to claim 1, characterized in that, Each board of the first thick-plate paper-cutting array undergoes surface morphology treatment at a predetermined position. Paper-cutting creases are applied to the thick-plate structure to remove the stepped structure of the board surface, so that the first thick-plate paper-cutting array can achieve a relatively flat working surface when unfolded to the working position. At the same time, the board surface at the hinge mounting point is treated to ensure that there is no interference between the board surfaces during the folding process.

5. A deployable structure for a bidirectionally expandable thick-plate paper-cutting array, characterized in that: Derived from a double-vertex nine-fold thick plate origami unit, it combines single-vertex four-fold origami with single-vertex six-fold origami, satisfying folding conditions without causing motion interference and having a larger folding-to-unfold ratio. It includes a second thick plate paper-cutting array and a scissor drive mechanism that works with the second thick plate paper-cutting array to unfold and retract it. The second thick plate paper-cutting array consists of four second-type basic folding-to-unfold units, totaling 32 plates, with eight thick plates forming one second-type basic folding-to-unfold unit. The second type of basic unfolding unit consists of plates Q1 to Q8. Plate Q1 is adjacent to plate Q2, plate Q2 is adjacent to plate Q3, plate Q4 is adjacent to plate Q3, plate Q4 is adjacent to plate Q5, plate Q5 is adjacent to plate Q6, plate Q6 is adjacent to plate Q7, plate Q7 is adjacent to plate Q8, and plate Q8 is adjacent to plate Q1. From plate Q1 to plate Q8, a unit structure with two vertices C and D is formed. Plates Q1, Q2, Q3, and Q8 are arranged around vertex C, and plates Q3, Q4, Q5, Q6, Q7, and Q8 are arranged around vertex D. 12 α 23 β3 and β1 are the four inner corners of plates Q1, Q2, Q3 and Q8 surrounding vertex C, respectively; β4 and α 45 α 56 α 67 α 78 Let β and β8 be the six inner corners of plates Q3, Q4, Q5, Q6, Q7, and Q8 surrounding vertex D. The peak-valley crease angle parameters of vertices C and D satisfy the following conditions: β1+β3+α 12 +α 23 ＝2π，β4+β8+α 45 +α 56 +α 67 +α 78 ＝2π； β1+α 23 ＝β3+α 12 ＝π，β4+α 45 +α 56 ＝β8+α 67 +α 78 ＝π； α 56 +α 67 ＜π，α 12 +α 23 ＜π，α 45 ＝α 78 ＞π / 2，α 12 ＝α 23 ＝β4＝β8＝α 56 ＝α 67 ，β1＝β3， The stepped thicknesses of plates Q1, Q2, and Q3, the thicknesses of plates Q4 through Q7, and the stepped thickness of plate Q8 are respectively t 12 , t 23 , t 34 , t 45 , t 56 , t 67 , t 78 , t 81； The panel thickness meets the following conditions: t 12 / sinα 12 =t 23 / sinα 23 ,t 12 =t 34 ,t 23 =t 81 ,t 45 =t 78 ,t 56 =t 67 ; α 12 ＝α 23 ＝β4＝β8＝α 56 ＝α 67 ，β1＝β3； Given appropriate angle and thickness parameters based on the above conditions, the second type of basic unfolding unit can obtain a completely flat working surface; The second type of basic folding unit is expanded longitudinally by uniform arrangement and laterally by alternating arrangement, thus achieving bidirectional expansion and a large folding ratio.

6. The deployable structure of the bidirectionally expandable thick-plate paper-cutting array according to claim 5, characterized in that, The second thick plate paper-cutting array is fixed at the motion coupling point by bolts and a scissor drive mechanism.

7. The deployable structure of the bidirectionally expandable thick-plate paper-cutting array according to claim 5, characterized in that, The scissor drive mechanism consists of a scissor unit, which is driven by a motor to provide driving force during the unfolding process. The motor drives the slider to move on the guide rail, which in turn drives the scissor rod to move, thereby realizing the folding and unfolding movement of the scissor drive mechanism and controlling the folding and unfolding of the second thick plate paper cutting array.

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