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

Abstract

The application discloses a large-scale space folding and unfolding unit and structure based on the principle of paper folding. The large-scale space folding and unfolding unit comprises four long plates and four short plates, wherein every two long plates and two short plates form a folding and unfolding unit. In the first folding and unfolding unit, one end of the first short plate is hingedly connected with the middle part of the first long plate and the lower part of the side surface of the second long plate, and one end of the second short plate is hingedly connected with the middle part of the second long plate and the upper part of the side surface of the first long plate. Meanwhile, the connecting lines of the four hinging shafts can meet at a point, i.e. a folding and unfolding center point. The second folding and unfolding unit has the same structure as the first folding and unfolding unit and is horizontally directionally flipped and symmetrical to the first folding and unfolding unit with the folding and unfolding center point as the shaft. The part of the plate body of the first folding and unfolding unit is rotatably connected with the part of the plate body of the second folding and unfolding unit, so that the two folding and unfolding units are connected together. The application has the technical advantages of light mass, stable structure, reliable control system, folding and unfolding of the paper folding structure and large-scale driving.

Description

Technical Field

[0001] This invention belongs to the technical field of folding structures, and particularly relates to a large-scale spatial folding unit and structure based on the principle of origami. Background Technology

[0002] Deployable structures, which can be folded or unfolded as needed, have become a hot research topic in recent years, especially large-scale deployable structures. Their high fold-to-scale ratio, high precision, light weight, and high rigidity make them widely applicable. These structures are commonly used in architectural design, aerospace, and scientific research. Their design considers the strength, stability, and durability of materials to ensure they can withstand different loads and environmental conditions during use. Large-scale deployable structures are typically manufactured using computer-aided design and robotics to ensure precision and repeatability. Their application in aerospace satellites offers significant advantages. For example, satellite communication requires antennas to receive and transmit signals; large-scale deployable structures allow satellite antennas to be folded before launch and then unfolded in orbit, reducing the satellite's launch size, improving launch efficiency, and achieving a larger effective antenna size in orbit, thus providing better communication performance. Most existing large-scale deployable mechanisms are complex coupled mechanisms, constructed with multiple outputs and multiple degrees of freedom. They have a large number of rod structures, intricate interconnections between rods, and a large amount of kinematic redundancy, making them prone to jamming, deformation, or even failure. Any fault (such as rod interference or mechanism anomalies) can prevent the aerospace mechanism from completing the planned folding and unfolding actions in the space environment.

[0003] The invention patent application with application number "CN20201510071682.X" and titled "A Torsion Spring-Driven Deployable Planar Structure for Small Satellites and Its Installation Method" discloses a torsion spring-driven deployable planar structure for small satellites. The main body is a thin-walled rod, and the deployable planar structure includes equilateral triangular deployment units. Each equilateral triangular deployment unit comprises a thin-walled rod, nodes, joints, a torsion spring, and a pin, with adjacent equilateral triangular deployment units connected by different nodes. While this patent achieves a working platform and installation method with high folding ratio, high reliability, rapid and efficient deployment, and a deployable planar structure suitable for small satellites, the structure is very complex. The equilateral triangular deployment units in the folding structure are diverse, making manufacturing difficult and requiring high precision. Moreover, it is only applicable to small satellites and cannot be universally applied to some satellite onboard drives.

[0004] The invention patent application number "CN202310059168.9", entitled "Single-degree-of-freedom planar two-dimensional large-scale spatial unfolding unit and large-scale deployable device", describes a large-scale spatial unfolding unit as a symmetrical quadrangular prism multi-closed-loop mechanism. It includes two parallel platforms connected by a drive chain, located on the central axis of the large-scale spatial unfolding unit and featuring a cylindrical pair. This invention possesses good symmetry and numerous advantages, including high stiffness, lightweight, high structural reliability, single-degree-of-freedom operation, and a simple drive system. However, the structure has many parts, making assembly complex, and the type and arrangement of the drive pair cannot guarantee the smooth unfolding of the large-scale mechanism. Summary of the Invention

[0005] The technical problem to be solved by this invention is to address the shortcomings of existing technologies by providing a large-scale spatial folding and unfolding unit and structure based on the principle of origami. This invention has the technical advantages of a large folding-to-unfold ratio, lightweight, high strength, and high stability.

[0006] To achieve the above-mentioned technical objectives, the technical solution adopted by the present invention is as follows:

[0007] A large-scale spatial unfolding unit based on origami principles includes four long plates and four short plates. Each pair of long plates and two short plates forms a unfolding element. In the first 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 lines connecting the four hinge axes can meet at a single point, namely the unfolding center point. The second unfolding element has the same structure as the first unfolding element and is symmetrical with the first unfolding element about the unfolding center point in the horizontal direction. Parts of the plates of the first unfolding element and parts of the plates of the second unfolding element can be rotatably connected, so that the two unfolding elements are connected together.

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

[0009] A large-scale spatial unfolding unit based on origami principles comprises four identical trapezoidal plates with interior angles of 60° and 120° respectively, and four identical equilateral triangle plates. The upper base and side lengths of the trapezoidal plates are both half the length of the lower base. The side length of the equilateral triangle plates is equal to the upper base length of the trapezoidal plates. The first trapezoidal plate, the second trapezoidal plate, the first equilateral triangle plate, and the second equilateral triangle plate form a first unfolding element. The third trapezoidal plate, the fourth trapezoidal plate, the third equilateral triangle plate, and the fourth equilateral triangle plate form another group, constituting a second unfolding element. One side of the first trapezoidal plate is placed horizontally as its base, and one side of the second trapezoidal plate is placed horizontally as its top surface. The first side of the first equilateral triangle plate is hinged to the middle of the first trapezoidal plate, and the second side is hinged to the lower half of the lower base of the second trapezoidal plate. The vertex where the first and second sides of the first equilateral triangle plate intersect is... At the folding center point, the first side of the second equilateral triangle plate is hinged to the middle of the second equilateral trapezoid plate, and the second side is hinged to the upper half of the lower base of the first equilateral trapezoid plate. The vertex where the first and second sides of the second equilateral triangle plate meet is located at the folding center point. The center of the lower base of the first equilateral trapezoid plate and the center of the lower base of the second equilateral trapezoid plate are located at the folding center point. The first and second folding elements have the same structure and are horizontally symmetrical. In the second folding element, the connection relationship is as follows: the third and fourth equilateral trapezoid plates correspond to the first and second equilateral trapezoid plates respectively, and the third and fourth equilateral triangle plates correspond to the first and second equilateral triangle plates respectively. The lower half of the lower base of the first equilateral trapezoid plate is hinged to the lower half of the lower base of the fourth equilateral trapezoid plate, and the upper half of the lower base of the second equilateral trapezoid plate is hinged to the upper half of the lower base of the third equilateral trapezoid plate.

[0010] Each trapezoidal plate has a bottom hinge shaft along its bottom base. The bottom hinge shaft is divided into two independent segments from the midpoint of the bottom base of the trapezoidal plate. These two segments of the bottom hinge shaft are used to hinge with the equilateral triangle plate and with the trapezoidal plate of another folded element, respectively.

[0011] Each trapezoidal plate has a cutout, and a central hinge shaft is installed in the cutout. One end of the central hinge shaft is hinged to one end of the bottom of the trapezoidal plate, and the other end is hinged to the midpoint of the bottom of the trapezoidal plate. The central hinge shaft is used to hinge with an equilateral triangle plate.

[0012] Each trapezoidal plate has a side hinge on one side that is far from the central hinge axis. The side hinge is used to connect to external equipment or to adjacent large-scale spatial unfolding units.

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

[0014] A large-scale spatial folding structure based on origami principles includes several large-scale spatial folding units based on origami principles, which are stacked one on top of the other. The upper end of the second trapezoidal plate of the next large-scale spatial folding unit is hinged to the first trapezoidal plate of the previous large-scale spatial folding unit, and the upper end of the fourth trapezoidal plate of the next large-scale spatial folding unit is hinged to the third trapezoidal plate of the previous large-scale spatial folding unit.

[0015] The large-scale spatial unfolding structure based on origami principles also includes a motor, a controller, a ball screw, and a slider. The slider is slidably mounted on the ball screw, and the motor is connected to the ball screw via a transmission. The motor can drive the ball screw to rotate, thereby causing the slider to move along the ball screw. The controller is connected to the motor and is used to control the operation of the motor. The lower end of the first trapezoidal plate of the last large-scale spatial unfolding unit is fixedly mounted on the slider, and the lower end of the third trapezoidal plate is fixedly mounted on the mounting base of the ball screw.

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

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

[0018] The beneficial effects of this invention are:

[0019] (1) The present invention adopts a novel design method, using multiple long and short boards, and replaces the creases with a hinge structure to realize the flexible unfolding and folding of large-scale spatial unfolding units. The large-scale spatial unfolding structure is lightweight, structurally stable, and has a reliable control system, enabling the unfolding of the origami structure and large-scale driving.

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

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

[0022] (4) Because the present invention uses fewer components and has a simple structure, the manufacturing cycle is short and the design effect is significant, and it has certain practical engineering application value. Attached Figure Description

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

[0024] Figure 2 This is a schematic diagram of the structure of the three large-scale spatial unfolding units stacked one on top of the other in this invention;

[0025] Figure 3 yes Figure 2 A schematic diagram of the structure of the large-scale spatial unfolding unit in the enlarged view of section A, showing the horizontal rotation of a certain angle counterclockwise each time.

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

[0027] Figure 5 This is a schematic diagram of the structure of a trapezoidal plate;

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

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

[0030] Figure 8 This is a structural schematic diagram of the hinge component in a large-scale spatial unfolding unit;

[0031] Figure 9 yes Figure 2 Enlarged view of the structure of section B in the middle;

[0032] Figure 10 yes Figure 2 Enlarged view of the C-section structure;

[0033] Figure 11 It is a structural diagram of a large-scale spatial folded structure unfolded based on the principle of origami.

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

[0035] The markings in the attached diagram are as follows: 1. Equilateral trapezoidal plate, 1a. Lower base hinge shaft, 1b. Middle hinge shaft, 1c. First equilateral trapezoidal plate, 11. Second equilateral trapezoidal plate, 12. Third equilateral trapezoidal plate, 13. Fourth equilateral trapezoidal plate, 14. Equilateral triangle plate, 2. First equilateral triangle plate, 21. Second equilateral triangle plate, 22. Third equilateral triangle plate, 23. Fourth equilateral triangle plate, 24. Motor, 3. Ball screw, 4. Slider, 5. Bearing, 6. Detailed Implementation

[0036] To make the objectives, technical solutions, and advantages of this application clearer, the application is described and illustrated below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application. All other embodiments obtained by those skilled in the art based on the embodiments provided in this application without inventive effort are within the scope of protection of this application.

[0037] Obviously, the accompanying drawings described below are merely some examples or embodiments of this application. Those skilled in the art can apply this application to other similar scenarios based on these drawings without any inventive effort. Furthermore, it is understood that although the efforts made in this development process may be complex and lengthy, for those skilled in the art related to the content disclosed in this application, any changes to design, manufacturing, or production based on the technical content disclosed in this application are merely conventional technical means and should not be construed as insufficient disclosure of the content of this application.

[0038] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment that is mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments without conflict.

[0039] Unless otherwise defined, the technical or scientific terms used in this application shall have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms “a,” “an,” “an,” “the,” and similar words used in this application do not indicate quantity limitation and may indicate singular or plural. The terms “comprising,” “including,” “having,” and any variations thereof used in this application are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or device that includes a series of steps or units (elements) is not limited to the listed steps or units, but may also include steps or units not listed, or may include other steps or units inherent to these processes, methods, products, or devices. The terms “connected,” “linked,” “coupled,” and similar words used in this application are not limited to physical or mechanical connections, but may include electrical connections, whether direct or indirect. The terms “multiple” / “several” used in this application refer to two or more. “And / or” describes the relationship between related objects, indicating that three relationships may exist; for example, “A and / or B” can indicate: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following objects are in an "or" relationship. The terms "first," "second," and "third" used in this application are merely to distinguish similar objects and do not represent a specific ordering of the objects.

[0040] This invention provides a large-scale spatial unfolding unit and structure based on origami principles. The large-scale spatial unfolding unit includes four trapezoidal plates 1 and four equilateral triangular plates 2. (Refer to...) Figure 3 The interior angles are 60° and 120° respectively. Except for the bottom base of the trapezoidal plate 1, all sides have the same length, and the bottom base of the trapezoidal plate 1 is twice the side length. The hinge axes on the trapezoidal plate 1 are of three types: bottom hinge axis 1a, middle hinge axis 1b, and side hinge axis 1c. Figure 5 It can be seen that the bottom hinge shaft 1a is located at the bottom of the trapezoidal plate 1, and is divided into two sections with the center of the trapezoidal plate 1 as the boundary. The middle hinge shaft 1b is opened on the plate body of the trapezoidal plate 1 or in the hollow of the trapezoidal plate 1. One end is hinged to one end of the top bottom of the trapezoidal plate 1, and the other end is hinged to the midpoint of the bottom bottom of the trapezoidal plate 1. The side hinge shaft 1c is set on the side of the trapezoidal plate 1 that is farther away from the middle hinge shaft 1b.

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

[0042] The four equilateral triangle plates 2 are the first equilateral triangle plate 21, the second equilateral triangle plate 22, the third equilateral triangle plate 23, and the fourth equilateral triangle plate 24.

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

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

[0045] We Figure 3 The upper right image will be used to explain the structural relationship and folding principle of the first folding element.

[0046] In the first folding element, the first trapezoidal plate 11 has one side of its side hinge shaft 1c located on the bottom surface, and the second trapezoidal plate 12 has one side of its side hinge shaft 1c located on the top surface. The first side of the first equilateral triangle plate 21 is hinged to the middle of the first trapezoidal plate 11, and the second side is hinged to the lower half of the lower base of the second trapezoidal plate 12. The vertex where the first and second sides of the first equilateral triangle plate 21 intersect is located at the folding center point. The first side of the second equilateral triangle plate 22 is hinged to the middle of the second trapezoidal plate 12, and the second side is hinged to the upper half of the lower base of the first trapezoidal plate 11. The vertex where the first and second sides of the second equilateral triangle plate 22 intersect is located at the folding center point. The center of the lower base of the first trapezoidal plate 11 and the center of the lower base of the second trapezoidal plate 12 are located at the folding center point. Figure 3 In the upper right of the image, you can see a pyramid-shaped cavity with a vertex, which is the center point of the folding. The four plates that make up the pyramid-shaped cavity are the upper part of the first trapezoidal plate 11, the first equilateral triangle plate 21, the lower part of the second trapezoidal plate 12, and the second equilateral triangle plate 22. According to the principle of origami, it is easy to understand that if one side of this pyramid-shaped cavity rotates, the other three sides will also rotate, thus allowing the pyramid-shaped cavity to switch between horizontal and vertical folding. Therefore, at this time, as long as a horizontal force can be applied to the lower end of the first trapezoidal plate 11 to make the first trapezoidal plate 11 rotate, the upper end of the second trapezoidal plate 12 can move in the opposite direction, and the lower bottom of the first trapezoidal plate 11 can be hinged to the lower bottom of the fourth trapezoidal plate 14, and the lower bottom of the second trapezoidal plate 12 can be hinged to the lower bottom of the third trapezoidal plate 13, thereby connecting the first folding element and the second folding element together. The four trapezoidal plates 1 form a mutually restraining system. When the lower ends of the first trapezoidal plate 11 and the third trapezoidal plate 13 are close to each other, the upper ends of the second trapezoidal plate 12 and the fourth trapezoidal plate 14 are close to each other, and the large-scale spatial folding unit unfolds. Conversely, when they are far apart, the large-scale spatial folding unit folds.

[0047] Each panel is connected by a hinge, preventing the overall structure from jamming and allowing for easy unfolding and folding. (Hinge structure reference) Figure 8 The hinge has the same thickness as the plate, and its width is equal to the sum of the thicknesses of the two plates. The fillet diameter is equal to the hinge thickness. Two through holes are drilled inside the hinge, with the hole size being the same as the plate hole and equal to the pin diameter. 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 pieces; one pin connects the inner hole of the plate to the hinge, and the other pin connects the other plate to another hole in the hinge, thus forming a rotating pair at the connection point of the two pieces.

[0048] Embodiments of the present invention also include large-scale spatial unfolding structures, as referenced. Figure 7 It consists of a motor 3, a controller (not shown in the figure), a ball screw 4, and a slider 5. The motor 3 drives the operation, and the controller controls the number of rotations and speed of the ball screw 3, thereby controlling the smooth linear motion distance and speed of the slider 5 on the ball screw, providing a driving force to the large-scale spatial unfolding unit. The unfolding and folding of the three large-scale spatial unfolding units are achieved through the revolute joint between the slider 5 and the first-level large-scale spatial unfolding unit, with the revolute joint as the driving joint. The unfolding and folding degrees of the first, second, and third-level large-scale spatial unfolding units are synchronized and equal, ensuring the geometric coordination and synchronous unfolding conditions between the large-scale spatial unfolding units. (Reference) Figure 2 The formula for the folding ratio of this large-scale spatial folding unit is: 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 spatial folding unit, the thickness of the material used, and the number of large-scale spatial folding units assembled. The longer the side length and the smaller the thickness of the designed large-scale spatial folding unit, the larger the folding ratio can be achieved.

[0049] The trapezoidal plate 1 and the equilateral triangular plate 2 are made of lightweight rigid metal materials, such as common aluminum alloys, or selected according to the required application scenario. As long as the lightweight characteristics of the drive structure and the total mass are less than the requirements are guaranteed.

[0050] Ball screw 4 is a high-precision, heavy-duty 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 equal to the thickness of the stacked boards, while the unfolded height is determined by the length of the boards. The unfolded height must be much greater than the folding height to ensure a large fold-to-unfold ratio deformation.

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

[0053] The inner surfaces of the double holes in the hinge and the outer surfaces of the mating pins need to be ground to ensure surface accuracy and increase structural strength.

[0054] The following parameters are used to illustrate the large-scale spatial folding and unfolding structure in this case study: the driving structure can drive a deformation stroke greater than 150mm; the folding-to-unfolding deformation ratio of the driving structure is greater than 9:1; the structural load-bearing capacity is greater than 1kg; the structural dimensions are greater than 200mm; the total system mass is less than 10kg; the driving system's driving efficiency is greater than 4mm / s; the driving structure can be locked at any specified position with structural stability; the joint movement of the driving system is smooth and without jamming; the position and speed of the driving system can be programmably controlled; and the driving control system has a fast response speed and high stability. NC programming is used, MATLAB is used for exact solution calculations, and SolidWorks is used for structural simulation calculations.

[0055] The above are merely preferred embodiments of the present invention. The scope of protection of the present invention is not limited to the above embodiments. All technical solutions falling within the scope of the present invention's concept are within the scope of protection of the present invention. It should be noted that for those skilled in the art, any improvements and modifications made without departing from the principles of the present invention should be considered within the scope of protection of the present invention.

Claims

1. A large-scale spatial unfolding unit based on origami principles, characterized by: It includes four identical trapezoidal plates (1) with interior angles of 60° and 120° respectively, and four identical equilateral triangle plates (2). The upper base and side length of the trapezoidal plate (1) are both half the length of the lower base. The side length of the equilateral triangle plate (2) is equal to the length of the upper base of the trapezoidal plate (1). The first trapezoidal plate (11), the second trapezoidal plate (12), the first equilateral triangle plate (21), and the second equilateral triangle plate (22) form a first folded element. The third trapezoidal plate (13) and the fourth trapezoidal plate (22) form a second folded element. (14) The third equilateral triangle plate (23) and the fourth equilateral triangle plate (24) form another set of components for the second folding element. One side of the first equilateral trapezoidal plate (11) is placed horizontally with its bottom surface facing down. One side of the second equilateral trapezoidal plate (12) is placed horizontally with its top surface facing down. The first side of the first equilateral triangle plate (21) is hinged to the middle of the first equilateral trapezoidal plate (11), and the second side is hinged to the lower half of the bottom of the second equilateral trapezoidal plate (12). The vertex where the first and second sides of the first equilateral triangle plate (21) intersect is located at the folding center point. The first side of the equilateral triangle plate (22) is hinged to the middle of the second equilateral trapezoid plate (12), and the second side is hinged to the upper half of the lower base of the first equilateral trapezoid plate (11). The vertex where the first and second sides of the second equilateral triangle plate (22) meet is located at the folding center point. The center of the lower base of the first equilateral trapezoid plate (11) and the center of the lower base of the second equilateral trapezoid plate (12) are located at the folding center point. The first and second folding elements have the same structure and are horizontally symmetrical. In the second folding element, the connection relationship is: the third equilateral trapezoid plate ( 13) and the fourth equilateral trapezoidal plate (14) correspond to the first equilateral trapezoidal plate (11) and the second equilateral trapezoidal plate (12) respectively, and the third equilateral triangle plate (23) and the fourth equilateral triangle plate (24) correspond to the first equilateral triangle plate (21) and the second equilateral triangle plate (22) respectively; the lower half of the lower base of the first equilateral trapezoidal plate (11) is hinged to the lower half of the lower base of the fourth equilateral trapezoidal plate (14), and the upper half of the lower base of the second equilateral trapezoidal plate (12) is hinged to the upper half of the lower base of the third equilateral trapezoidal plate (13).

2. The large-scale spatial unfolding unit based on the origami principle according to claim 1, characterized in that: Each trapezoidal plate (1) is provided with a bottom hinge shaft (1a) along its bottom base. The bottom hinge shaft (1a) is divided into two independent segments from the midpoint of the bottom base of the trapezoidal plate (1). These two segments of the bottom hinge shaft (1a) are used to hinge with the equilateral triangle plate (2) and with the trapezoidal plate (1) of another folded element, respectively.

3. The large-scale spatial unfolding unit based on the origami principle according to claim 2, characterized in that: Each trapezoidal plate (1) has a cutout on its body, and a central hinge shaft (1b) is provided in the cutout. One end of the central hinge shaft (1b) is hinged to one end of the upper base of the trapezoidal plate (1), and the other end is hinged to the midpoint of the lower base of the trapezoidal plate (1). The central hinge shaft (1b) is used to hinge with the equilateral triangle plate (2).

4. A large-scale spatial unfolding unit based on the origami principle according to claim 3, characterized in that: Each trapezoidal plate (1) has a side hinge (1c) on the side farther from the central hinge axis (1b). The side hinge (1c) is used to connect to external equipment or to adjacent large-scale spatial unfolding units.

5. A large-scale spatial unfolding unit based on the origami principle according to claim 4, characterized in that: The trapezoidal plate (1) and the triangular plate (2) are made of metal sheets, plastic sheets or glass sheets.

6. A large-scale spatial unfolding structure based on origami principles, characterized by: It includes several large-scale spatial folding units based on the origami principle as described in claim 4. The large-scale spatial folding units are stacked one on top of the other, and the upper end of the second trapezoidal plate (12) of the next large-scale spatial folding unit is hinged to the first trapezoidal plate (11) of the previous large-scale spatial folding unit, and the upper end of the fourth trapezoidal plate (12) of the next large-scale spatial folding unit is hinged to the third trapezoidal plate (13) of the previous large-scale spatial folding unit.

7. A large-scale spatial unfolding structure based on the origami principle according to claim 6, characterized in that: It also includes a motor (3), a controller, a ball screw (4) and a slider (5). The slider (5) is slidably mounted on the ball screw (4). The motor (3) is connected to the ball screw (4) for transmission. 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 trapezoidal plate (11) of the last large-scale spatial unfolding unit is fixedly mounted on the slider (5), and the lower end of the third trapezoidal plate (13) is fixedly mounted on the mounting base of the ball screw (4).

8. A large-scale spatial unfolding structure based on the origami principle according to claim 7, characterized in that: The upper end of the second trapezoidal plate (12) and the upper end of the fourth trapezoidal plate (12) of the uppermost large-scale spatial expansion 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).

9. A large-scale spatial unfolding structure based on the origami principle according to claim 6, characterized in that: The folding-unfolding deformation ratio of the large-scale spatial folding unit is greater than 9:1.

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