Large-scale space folding and unfolding unit and structure based on paper folding principle

Abstract

The invention discloses a large-scale space folding and unfolding unit and structure based on the paper folding principle, the large-scale space folding and unfolding unit comprises four long plates and four short plates, every two long plates and every two short plates form a group to form a folding and unfolding unit, in the first folding and unfolding unit, one end of the first short plate is hinged to the middle of the first long plate, and the other end of the first short plate is hinged to the middle of the second long plate; one end of the second short plate is hinged to the lower portion of the side face of the second long plate, one end of the second short plate is hinged to the middle of the second long plate and hinged to the upper portion of the side face of the first long plate, meanwhile, the connecting line of the four hinged shafts can be located at one point, namely, the folding and unfolding center point, and the second folding and unfolding unit is the same as the first folding and unfolding unit in structure and adopts the folding and unfolding center point as the axis. Part of the plate body of the first folding and unfolding unit is rotatably connected with part of the plate body of the second folding and unfolding unit, so that the two folding and unfolding units are connected together. The invention has the technical advantages of light weight, stable structure, reliable control system, realization of folding and unfolding of the paper folding structure and realization of large-scale driving.

Description

Technical Field

[0001] The present invention belongs to the technical field of folding structures, and in particular relates to a large-scale spatial folding unit and structure based on the origami principle. Background Art

[0002] Space foldable structures are structures that can be folded or unfolded when needed. They have been a hot topic of research and development in recent years, especially large-scale foldable structures. Their high folding and unfolding ratio, high precision, light weight, high stiffness and other characteristics have made them more widely used. Such structures are usually used in architectural design, aerospace vehicles and scientific research. The design of these structures takes into account the strength, stability and durability of the materials to ensure that they can withstand different loads and environmental conditions during use. Large-scale foldable structures are usually manufactured using computer-aided design and robotic manufacturing technology to ensure the accuracy and repeatability of the structure. Applying them to the field of aerospace application satellites can greatly bring out their advantages. For example, satellite communications require antennas to receive and send signals, and large-scale foldable structures can enable the satellite's antenna to be folded before launch and then unfolded in orbit, reducing the satellite's launch size, improving launch efficiency, and obtaining a larger effective antenna size in orbit, thereby providing better communication performance. However, most of the existing large-scale deployable mechanisms are complex coupling mechanisms, which are constructed with multiple outputs and multiple degrees of freedom. They have a large number of rod structures, intricate connections between the rods, and a large amount of kinematic redundancy, which makes them prone to jamming, deformation, and even failure. Any fault (such as rod interference, mechanism singularity, etc.) will cause the aerospace mechanism in the space environment to be unable to complete the set folding and unfolding actions.

[0003] The invention patent application with application number "CN20201510071682.X" and titled "A torsion spring driven small satellite onboard deployable planar structure and its installation method" discloses a torsion spring driven small satellite onboard deployable planar structure, the main body of which is a thin-walled rod, and the small satellite onboard deployable planar structure includes an equilateral triangle deployment unit, and the equilateral triangle deployment unit includes a thin-walled rod, a node, a joint, a torsion spring and a pin, and adjacent equilateral triangle deployment units are spliced ​​with different nodes. Although this patent can achieve a working platform and its installation method composed of a deployable planar structure with high folding rate, high reliability, fast and efficient deployment, and suitable for small satellites, the structure is very complex, the equilateral triangle deployment units in the folding structure are diverse, the manufacturing difficulty is high, the precision is high, and it is only suitable for small satellites, and cannot be generally applied to some satellite onboard drives.

[0004] The invention patent with application number "CN202310059168.9" and name "Single-degree-of-freedom planar two-dimensional large-scale space folding and unfolding unit and large-scale deployable device" is a symmetrical quadrangular prism multi-closed loop mechanism, which includes two parallel platforms, and a drive branch chain is connected between the two platforms, which is located on the central axis of the large-scale space folding and unfolding unit and has a cylindrical pair. The invention has good symmetry, and has many advantages such as high rigidity, light weight, high structural reliability, single degree of freedom and simple drive system. However, the structure has many parts and is relatively complicated to assemble. The type and position arrangement of the drive pair cannot achieve the purpose of smoothly unfolding the large-scale mechanism. Summary of the invention

[0005] The technical problem to be solved by the present invention is to provide a large-scale spatial folding and unfolding unit and structure based on the origami principle in view of the above-mentioned existing deficiencies. The present invention has the technical advantages of large folding and unfolding ratio, light weight, high strength and high stability.

[0006] In order to achieve the above technical objectives, the technical solution adopted by the present invention is:

[0007] A large-scale spatial folding and unfolding unit based on the origami principle includes four long plates and four short plates, wherein every two long plates and two short plates form a group of folding and unfolding elements. In the first folding and unfolding element, one end of the first short plate is hinged to the middle of the first long plate and to the lower part of the side of the second long plate. One end of the second short plate is hinged to the middle of the second long plate and to the upper part of the side of the first long plate. At the same time, the connecting line of the four hinge axes can converge at one point, namely, the folding and unfolding center point. The second folding and unfolding element has the same structure as the first folding and unfolding element, and is flipped symmetrically in the horizontal direction with the folding and unfolding center point as the axis. Part of the plate body of the first folding and unfolding element is rotatably connected to part of the plate body of the second folding and unfolding element, so that the two folding and unfolding elements are connected together.

[0008] To optimize the above technical solutions, the specific measures taken also include:

[0009] The large-scale spatial folding and unfolding unit based on the origami principle includes four regular trapezoidal plates with the same structure and internal angles of 60° and 120° respectively and four regular triangular plates with the same structure. The length of the upper base and the side of the regular trapezoidal plate are both half of the lower base, and the side length of the regular triangular plate is equal to the length of the upper base of the regular trapezoidal plate. The first regular trapezoidal plate, the second regular trapezoidal plate, the first regular triangular plate and the second regular triangular plate form a group to form a first folding and unfolding element, and the third regular trapezoidal plate, the fourth regular trapezoidal plate, the third regular triangular plate and the fourth regular triangular plate form another group to form a second folding and unfolding element. One side of the first regular trapezoidal plate is placed horizontally with the bottom surface, and one side of the second regular trapezoidal plate is placed horizontally with the top surface. The first side of the first regular triangular plate is hinged to the middle of the first regular trapezoidal plate, and the second side is hinged to the lower half of the lower base of the second regular trapezoidal plate. The vertex where the first side and the second side of the first regular triangular plate meet is located at At the folding center point, the first side of the second equilateral triangular plate is hinged to the middle of the second equilateral trapezoidal plate, and the second side is hinged to the upper half of the lower base of the first equilateral trapezoidal plate. The vertex where the first side and the second side of the second equilateral triangular plate intersect is located at the folding center point, the center of the lower base of the first equilateral trapezoidal plate and the center of the lower base of the second equilateral trapezoidal plate are located at the folding center point, the first folding element and the second folding element have the same structure and are flipped symmetrically in the horizontal direction. In the second folding element, the connection relationship is: the third equilateral trapezoidal plate and the fourth equilateral trapezoidal plate correspond to the first equilateral trapezoidal plate and the second equilateral trapezoidal plate respectively, and the third equilateral triangular plate and the fourth equilateral triangular plate correspond to the first equilateral triangular plate and the second equilateral triangular plate respectively; the lower half of the lower base of the first equilateral trapezoidal plate is hingedly connected to the lower half of the lower base of the fourth equilateral trapezoidal plate, and the upper half of the lower base of the second equilateral trapezoidal plate is hingedly connected to the upper half of the lower base of the third equilateral trapezoidal plate.

[0010] Each regular trapezoidal plate is provided with a lower bottom hinge axis along the lower bottom, and the lower bottom hinge axis is divided into two independent sections from the lower bottom midpoint of the regular trapezoidal plate. The two sections of the lower bottom hinge axis are respectively used to hinge with the regular triangle plate and the regular trapezoidal plate of another folding element.

[0011] Each trapezoidal plate has a hollow formed on its body, in which a middle hinge shaft is arranged. One end of the middle hinge shaft is hinged to one end of the upper bottom of the trapezoidal plate, and the other end is hinged to the midpoint of the lower bottom of the trapezoidal plate. The middle hinge shaft is used to be hinged to the equilateral triangle plate.

[0012] A side hinge axis is provided on one side of each regular trapezoidal plate which is farther from the central hinge axis. The side hinge axis is used to connect with an external device or with an adjacent large-scale space folding and unfolding unit.

[0013] The regular trapezoidal plate and the regular triangular plate are made of metal sheets, plastic sheets or glass sheets.

[0014] A large-scale space folding structure based on the origami principle comprises a plurality of the above-mentioned large-scale space folding units based on the origami principle, the large-scale space folding units are stacked up and down, and the upper end of the second regular trapezoidal plate of the next large-scale space folding unit is hinged to the first regular trapezoidal plate of the previous large-scale space folding unit, and the upper end of the fourth regular trapezoidal plate of the next large-scale space folding unit is hinged to the third regular trapezoidal plate of the previous large-scale space folding unit.

[0015] The large-scale spatial folding and unfolding structure based on the origami principle also includes a motor, a controller, a ball screw and a slider. The slider is slidably mounted on the ball screw. The motor is transmission-connected to the ball screw. The motor can drive the ball screw to rotate, thereby moving the slider along the ball screw. The controller is connected to the motor to control the operation of the motor. The lower end of the first regular trapezoidal plate of the lowest large-scale spatial folding and unfolding unit is fixedly mounted on the slider, and the lower end of the third regular trapezoidal plate is fixedly mounted on the mounting seat of the ball screw.

[0016] The upper ends of the second regular trapezoidal plate and the fourth regular trapezoidal plate of the uppermost large-scale spatial folding and unfolding unit are respectively hinged to the lower end of a connecting plate, and the upper end of the connecting plate is hinged to a bearing.

[0017] The folding and unfolding deformation ratio of the large-scale spatial folding and unfolding unit is greater than 9:1.

[0018] The beneficial effects of the present invention are:

[0019] (1) The present invention adopts a brand-new design method, using multiple long plates and short plates, and replaces the creases with hinged structures in the folding and unfolding mode of the origami structure, which can realize the flexible unfolding and folding of the large-scale spatial folding and unfolding unit. The large-scale spatial folding and unfolding structure has light weight, stable structure, and reliable control system, and can realize the folding and unfolding of the origami structure and realize large-scale driving.

[0020] (2) A bearing is placed at the upper end, i.e., the output end, of the large-scale spatial folding structure of the present invention to enable it to stably output a unidirectional force in the Z axis, which is beneficial to improving the reliability of the unfolding and folding movement of the large-scale spatial folding structure, while ensuring that the kinematics, dynamics and control of the large-scale deployable drive structure are simpler.

[0021] (3) The large-scale spatial folding and unfolding structure in the present invention has good symmetry. At the same time, the present invention has many advantages such as light weight, easy installation, ability to achieve large folding and unfolding ratio deformation, high structural reliability, and simple driving system. It plays a role in supporting and controlling deformation in the space environment, and has strong scalability and broad design space in future designs.

[0022] (4) Since the present invention uses a small number of components and has a simple structural assembly, it has a short manufacturing cycle and a significant design effect, and has certain practical engineering application value. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Figure 1 This is a top view of the structure of the large-scale space folding and unfolding unit of the present invention;

[0024] Figure 2 It is a schematic diagram of the structure of three large-scale space folding and unfolding units stacked up and down in the present invention;

[0025] Figure 3 yes Figure 2 The structural diagram of the large-scale space folding and unfolding unit in the enlarged diagram of the structure of part A in the middle is a schematic diagram of the structure of each counterclockwise rotation of a certain angle in the horizontal direction;

[0026] Figure 4 It is a schematic diagram of the structure of an equilateral triangle plate;

[0027] Figure 5 It is a structural schematic diagram of a regular trapezoidal plate;

[0028] Figure 6 It is the unfolding-folding process diagram of the large-scale spatial folding unit;

[0029] Figure 7 This is a schematic diagram of a large-scale spatial folding and unfolding structure based on the origami principle;

[0030] Figure 8 It is a schematic diagram of the structure of the hinged parts in the large-scale spatial folding and unfolding unit;

[0031] Fig. 9 yes Figure 2 A magnified view of the structure of the middle B section;

[0032] Fig.10 yes Figure 2 Enlarged view of the structure of the middle C section;

[0033] Fig.11 It is a structural diagram of a large-scale spatial folding structure based on the origami principle in an unfolded state;

[0034] Fig.12 It is a structural diagram of a large-scale spatial folding structure in a folded state based on the origami principle.

[0035] The marks in the accompanying drawings mean: regular trapezoidal plate 1, lower base hinge axis 1a, middle hinge axis 1b, side hinge axis 1c, first regular trapezoidal plate 11, second regular trapezoidal plate 12, third regular trapezoidal plate 13, fourth regular trapezoidal plate 14, regular triangle plate 2, first regular triangle plate 21, second regular triangle plate 22, third regular triangle plate 23, fourth regular triangle plate 24, motor 3, ball screw 4, slider 5, bearing 6. DETAILED DESCRIPTION

[0036] In order to make the purpose, technical solutions and advantages of the present application clearer, the present application is described and illustrated below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not intended to limit the present application. Based on the embodiments provided in the present application, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0037] Obviously, the drawings described below are only some examples or embodiments of the present application. For ordinary technicians in this field, the present application can also be applied to other similar scenarios based on these drawings without creative work. In addition, it can also be understood that although the efforts made in this development process may be complicated and lengthy, for ordinary technicians in this field related to the content disclosed in this application, some changes in design, manufacturing or production based on the technical content disclosed in this application are just conventional technical means, and should not be understood as insufficient content disclosed in this application.

[0038] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those of ordinary skill in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0039] Unless otherwise defined, the technical terms or scientific terms involved in this application should be understood by people with ordinary skills in the technical field to which this application belongs. The words "one", "a", "a", "the" and the like involved in this application do not indicate a quantitative limitation, and may represent the singular or plural. The terms "include", "comprise", "have" and any of their variations involved in this application are intended to cover non-exclusive inclusions; for example, a process, method, system, product or device that includes a series of steps or units (units) is not limited to the listed steps or units, but may also include steps or units that are not listed, or may also include other steps or units inherent to these processes, methods, products or devices. The words "connect", "connected", "coupled" and the like involved in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The "multiple" / "several" involved in this application refers to two or more. "And / or" describes the association relationship of associated objects, indicating that there can be three relationships, for example, "A and / or B" can mean: A exists alone, A and B exist at the same time, and B exists alone. The character " / " generally indicates that the objects before and after are in an "or" relationship. The terms "first", "second", "third", etc. involved in this application are only used to distinguish similar objects and do not represent a specific ordering of the objects.

[0040] The embodiment of the present invention provides a large-scale space folding unit and structure based on the origami principle. The large-scale space folding unit includes four regular trapezoidal plates 1 and four regular triangle plates 2. Figure 3 , the corresponding internal angles are 60° and 120°. Except for the lower base of the regular trapezoidal plate 1, all sides have the same length, which is twice the length of the side. There are three types of hinge axes on the regular trapezoidal plate 1, namely the lower base hinge axis 1a, the middle hinge axis 1b, and the side hinge axis 1c. Figure 5 It can be seen that the lower bottom hinge axis 1a is located at the lower bottom of the regular trapezoidal plate 1, and is divided into two sections with the center of the regular trapezoidal plate 1 as the boundary. The middle hinge axis 1b is opened on the plate body of the regular trapezoidal plate 1 or in the hollow of the regular trapezoidal plate 1, one end is hinged to one end of the upper bottom of the regular trapezoidal plate 1, and the other end is hinged to the midpoint of the lower bottom of the regular trapezoidal plate 1. The side hinge axis 1c is set on the side of the regular trapezoidal plate 1 farther from the middle hinge axis 1b.

[0041] The four regular trapezoidal plates 1 are respectively a first regular trapezoidal plate 11, a second regular trapezoidal plate 12, a third regular trapezoidal plate 13, and a fourth regular trapezoidal plate 14.

[0042] The four regular triangular plates 2 are respectively a first regular triangular plate 21 , a second regular triangular plate 22 , a third regular triangular plate 23 , and a fourth regular triangular plate 24 .

[0043] The first regular trapezoidal plate 11, the second regular trapezoidal plate 12, the first regular triangle plate 21 and the second regular triangle plate 22 form a group to form a first folding element, and the third regular trapezoidal plate 13, the fourth regular trapezoidal plate 14, the third regular triangle plate 23 and the fourth regular triangle plate 24 form another group to form a second folding element.

[0044] from Figure 3 It can be seen that the first folding element and the second folding element have the same structure and are flipped symmetrically in the horizontal direction.

[0045] We Figure 3 The upper right picture in the middle explains the structural relationship and folding principle of the first folding element.

[0046] In the first folding element, the first regular trapezoidal plate 11 has a side edge of the side hinge axis 1c located at the bottom surface, the second regular trapezoidal plate 12 has a side edge of the side hinge axis 1c as the top surface, the first side of the first equilateral triangular plate 21 is hinged to the middle of the first regular trapezoidal plate 11, the second side is hinged to the lower half of the lower base of the second regular trapezoidal plate 12, the vertex where the first side and the second side of the first regular triangular plate 21 meet is located at the folding center point, the first side of the second regular triangular plate 22 is hinged to the middle of the second regular trapezoidal plate 12, the second side is hinged to the upper half of the lower base of the first regular trapezoidal plate 11, the vertex where the first side and the second side of the second regular triangular plate 22 meet is located at the folding center point, the center of the lower base of the first regular trapezoidal plate 11 and the center of the lower base of the second regular trapezoidal plate 12 are located at the folding center point, Figure 3 A pyramid-shaped cavity with a vertex can be seen in the middle of the upper right picture. The vertex is the folding center point. The four plates that make up the pyramid-shaped cavity are the upper part of the first regular trapezoidal plate 11, the first regular triangle plate 21, the lower part of the second regular trapezoidal plate 12 and the second regular triangle plate 22. According to the principle of origami, it is easy to understand that if one side of the pyramid-shaped cavity rotates, the other three sides will also rotate, thereby switching the pyramid-shaped cavity between horizontal folding and vertical folding. Therefore, at this time, as long as a horizontal force can be applied to the lower end of the first positive trapezoidal plate 11 to rotate the first positive trapezoidal plate 11, the upper end of the second positive trapezoidal plate 12 can move in the opposite direction, and the lower base of the first positive trapezoidal plate 11 is hingedly connected to the lower base of the fourth positive trapezoidal plate 14, and the lower base of the second positive trapezoidal plate 12 is hingedly connected to the lower base of the third positive trapezoidal plate 13, so that the first folding element and the second folding element are connected together, and the four positive trapezoidal plates 1 form a mutually balanced system. When the lower ends of the first positive trapezoidal plate 11 and the third positive trapezoidal plate 13 are close to each other, the upper ends of the second positive trapezoidal plate 12 and the fourth positive trapezoidal plate 14 are close to each other, and the large-scale space folding unit is unfolded. Otherwise, they are distant from each other and the large-scale space folding unit is folded.

[0047] Each hinge axis between the panels is connected by a hinge, so that the overall structure will not get stuck, can achieve the foldable feature, and can be smoothly unfolded and folded. Figure 8 The thickness of the hinge is the same as the thickness of the plate, the width is the same as the sum of the thickness of the two plates, and the fillet diameter is equal to the thickness of the hinge. Two through holes are drilled inside the hinge, and the through hole size is the same as the plate hole, which is equal to the diameter of the pin. The distance between the through holes is equal to the center distance between the two plates before and after folding. Two pins are placed on the two structural parts, one pin connects the inner hole of the plate and the hinge, and the other pin connects the other plate and the other hole of the hinge, thereby forming a revolute pair at the connection between the two pieces.

[0048] The embodiment of the present invention also includes a large-scale spatial folding structure, referring to Figure 7 , which is composed of a motor 3, a controller (not shown in the figure), a ball screw 4 and a slider 5. The motor 3 drives the work, and the controller controls the number of revolutions and speed of the screw 3 to control the smooth linear motion distance and speed of the slider 5 on the screw, giving a driving force to the large-scale space folding unit. The rotating pair between the slider 5 and the first-level large-scale space folding unit is used as a driving pair to drive the three large-scale space folding units to unfold and fold; wherein the unfolding and folding degrees of the first, second and third-level large-scale space folding units are synchronously equal, ensuring the geometric coordination conditions and synchronous unfolding conditions between the large-scale space folding units; refer to Figure 2 The formula for the folding ratio of the large-scale space folding unit is deduced as: side length*2 / (thickness*number of layers). The size of the folding ratio depends on the side length of each plate in the large-scale space folding unit, the thickness of the material used and the number of assembled large-scale space folding units. The longer the side length of the designed large-scale space folding unit and the smaller the thickness, the larger the folding ratio can be achieved.

[0049] The trapezoidal plate 1 and the triangular plate 2 are made of lightweight metal rigid materials, such as common aluminum alloys, or selected according to the required application scenario. It is only necessary to ensure the lightweight characteristics of the driving structure and the total mass is less than the requirement.

[0050] The ball screw 4 is a high-precision, heavy-load ball screw, which is mostly made of low-alloy tool steel (such as 9Mn2V, CrWMn steel) and rolling bearing steel (such as GCr15, GCr15SiMn steel).

[0051] The folding height of the origami structure is the thickness of the stacked plates, and the unfolded height is determined by the length of the plates. The unfolded height needs to be much greater than the folded height to ensure that a large folding-to-expansion ratio deformation can be achieved.

[0052] The driving efficiency of the drive system motor 3 and the controller is greater than 4 mm / s.

[0053] The inner surface of the double holes of the hinge and the outer surface of the matching pin need to be ground to ensure surface accuracy and increase structural strength.

[0054] The following parameters are used in the case to illustrate the large-scale spatial folding and unfolding structure: the drive structure can drive the deformation stroke greater than 150mm; the drive structure folding and unfolding deformation ratio is greater than 9:1, the structure load is greater than 1kg, the structure size is greater than 200mm, the total system mass is less than 10kg, the drive system drive efficiency is greater than 4mm / s, the drive structure can be locked at any specified position, and the structure is stable; the drive system joints move smoothly without jamming; the drive system position and speed can be controlled by programming; the drive control system has fast response speed and high stability. NC is used for programming, MATLAB is used for accurate solution calculation, and SolidWorks is used for structure simulation calculation.

[0055] The above are only preferred embodiments of the present invention. The protection scope of the present invention is not limited to the above embodiments. All technical solutions under the concept of the present invention belong to the protection scope of the present invention. It should be pointed out that for ordinary technicians in this technical field, some improvements and modifications without departing from the principle of the present invention should be regarded as the protection scope of the present invention.

Claims

1. A large-scale spatial folding and unfolding unit based on the origami principle, characterized by: It includes four long plates and four short plates, wherein every two long plates and two short plates form a group of folding elements. In the first folding element, one end of the first short plate is hinged to the middle part of the first long plate and to the lower part of the side of the second long plate. One end of the second short plate is hinged to the middle part of the second long plate and to the upper part of the side of the first long plate. At the same time, the connecting line of the four hinge axes can converge at one point, that is, the folding center point. The second folding element has the same structure as the first folding element, and is flipped symmetrically in the horizontal direction with the folding center point as the axis. Part of the plate body of the first folding element and part of the plate body of the second folding element can be rotatably connected to connect the two folding elements together.

2. The large-scale spatial folding and unfolding unit based on the origami principle according to claim 1 is characterized in that: The invention comprises four regular trapezoidal plates (1) with the same structure and internal angles of 60° and 120° respectively and four regular triangular plates (2) with the same structure, wherein the length of the upper base and the side of the regular trapezoidal plate (1) are both half of the length of the lower base, the side length of the regular triangular plate (2) is equal to the length of the upper base of the regular trapezoidal plate (1), the first regular trapezoidal plate (11), the second regular trapezoidal plate (12), the first regular triangular plate (21) and the second regular triangular plate (22) form a group to form a first folding element, the third regular trapezoidal plate (13), the fourth regular trapezoidal plate (14) and the fifth regular triangular plate (15) form a group to form a first folding element, and the third regular trapezoidal plate (13) and the fourth regular trapezoidal plate (15) form a group to form a first folding element. (14), the third equilateral triangular plate (23) and the fourth equilateral triangular plate (24) form another group of second folding and unfolding elements, one side of the first equilateral trapezoidal plate (11) is placed horizontally as the bottom surface, one side of the second equilateral trapezoidal plate (12) is placed horizontally as the top surface, the first side of the first equilateral triangular plate (21) is hinged to the middle of the first equilateral trapezoidal plate (11), the second side is hinged to the lower half of the lower bottom of the second equilateral trapezoidal plate (12), the vertex where the first side and the second side of the first equilateral triangular plate (21) meet is located at the folding and unfolding center point, and the second The first side of the regular triangular plate (22) is hinged to the middle of the second regular trapezoidal plate (12), and the second side is hinged to the upper half of the lower base of the first regular trapezoidal plate (11). The vertex where the first side and the second side of the second regular triangular plate (22) meet is located at the folding center point. The center of the lower base of the first regular trapezoidal plate (11) and the center of the lower base of the second regular trapezoidal plate (12) are located at the folding center point. The first folding element and the second folding element have the same structure and are flip-symmetrical in the horizontal direction. In the second folding element, the connection relationship is as follows: the third regular trapezoidal plate ( The first regular trapezoidal plate (11) and the second regular trapezoidal plate (12) correspond to the third regular triangular plate (23) and the fourth regular triangular plate (24) respectively; the first regular triangular plate (21) and the second regular triangular plate (22) correspond to each other; the lower half of the lower base of the first regular trapezoidal plate (11) is hingedly connected to the lower half of the lower base of the fourth regular trapezoidal plate (14); the upper half of the lower base of the second regular trapezoidal plate (12) is hingedly connected to the upper half of the lower base of the third regular trapezoidal plate (13).

3. The large-scale spatial folding and unfolding unit based on the origami principle according to claim 2 is characterized by: Each regular trapezoidal plate (1) is provided with a lower base hinge shaft (1a) along the lower base, and the lower base hinge shaft (1a) is divided into two independent sections from the midpoint of the lower base of the regular trapezoidal plate (1), and the two sections of the lower base hinge shaft (1a) are respectively used for hinge connection with the regular triangle plate (2) and with the regular trapezoidal plate (1) of another folding element.

4. The large-scale spatial folding and unfolding unit based on the origami principle according to claim 3 is characterized by: Each regular trapezoidal plate (1) is provided with a hollow portion on its plate body, in which a middle hinge shaft (1b) is arranged. One end of the middle hinge shaft (1b) is hinged to one end of the upper base of the regular trapezoidal plate (1), and the other end is hinged to the midpoint of the lower base of the regular trapezoidal plate (1). The middle hinge shaft (1b) is used to be hinged to the regular triangular plate (2).

5. The large-scale spatial folding and unfolding unit based on the origami principle according to claim 4 is characterized by: A side hinge axis (1c) is provided on a side of each regular trapezoidal plate (1) that is farther from the middle hinge axis (1b), and the side hinge axis (1c) is used to connect to an external device or to connect to an adjacent large-scale spatial folding and unfolding unit.

6. The large-scale spatial folding and unfolding unit based on the origami principle according to claim 5 is characterized by: The regular trapezoidal plate (1) and the regular triangular plate (2) are made of metal sheets, plastic sheets or glass sheets.

7. A large-scale spatial folding structure based on origami principle, characterized by: The invention comprises a plurality of large-scale space folding units based on the origami principle as claimed in claim 5, wherein the large-scale space folding units are stacked up and down, and the upper end of the second regular trapezoidal plate (12) of the next large-scale space folding unit is hinged to the first regular trapezoidal plate (11) of the previous large-scale space folding unit, and the upper end of the fourth regular trapezoidal plate (12) of the next large-scale space folding unit is hinged to the third regular trapezoidal plate (13) of the previous large-scale space folding unit.

8. The large-scale spatial folding structure based on the origami principle according to claim 7 is characterized by: The invention also comprises a motor (3), a controller, a ball screw (4) and a slider (5), wherein the slider (5) is slidably mounted on the ball screw (4), the motor (3) is transmission-connected to the ball screw (4), the motor (3) can drive the ball screw (4) to rotate, thereby causing the slider (5) to move along the ball screw (4), the controller is connected to the motor (3) and is used to control the operation of the motor (3), the lower end of the first positive trapezoidal plate (11) of the lowest large-scale spatial folding and unfolding unit is fixedly mounted on the slider (5), and the lower end of the third positive trapezoidal plate (13) is fixedly mounted on the mounting seat of the ball screw (4).

9. The large-scale spatial folding structure based on the origami principle according to claim 8, characterized in that: The upper ends of the second regular trapezoidal plate (12) and the fourth regular trapezoidal plate (12) of the uppermost large-scale spatial folding and unfolding unit are respectively hinged to the lower end of a connecting plate, and the upper end of the connecting plate is hinged to a bearing (6).

10. The large-scale spatial folding structure based on the origami principle according to claim 7, characterized in that: The folding and unfolding deformation ratio of the large-scale spatial folding and unfolding unit is greater than 9:1.

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