Multi-stable-state paper folding structure with multi-mode deformation

Abstract

The invention discloses a multistable paper folding structure with multi-mode deformation. The multistable paper folding structure comprises a first substructure and a second substructure, the first substructure is formed by mutually connecting thirty-two surfaces through a plurality of revolute pairs, the second substructure is formed by eight surfaces, every two of the eight surfaces of the second substructure form a unit, the type of the unit is a straight grain unit or a curved grain unit, and the units are mutually connected through revolute pairs; the first substructure and the second substructure are connected through a revolute pair; the unitary origami structure can exhibit multistable characteristics, including compression, bending, and shear homeostasis, under different loading modes.

Description

Technical Field

[0001] The present invention relates to a multi-stable origami structure with multi-mode deformation, and in particular to a unit structure which can exhibit a bistable configuration under compression, bending and shear loads. Background Art

[0002] Multistable structures are a unique type of engineering structure that can switch between multiple stable states. This type of structure has multiple stable states or energy minima, which can achieve rapid structural reconstruction to achieve a variety of specific functions. It is widely used in engineering fields such as aerospace, building structures, and robotics.

[0003] Multistable structures can switch between different stable states by external stimuli such as temperature, pressure or electric field, which makes them suitable for deformable structures, such as buildings with variable configurations or adjustable bridges. In the aerospace and automotive industries, multistable structures can be used to manufacture aircraft with deformable wings to optimize flight performance. Under different flight conditions, the wings can change shape to increase lift or reduce drag. At the same time, multistable structures can be used in the design of car seats, so that they can automatically adjust their shape in the event of a collision, providing better protection and comfort adaptive components to improve the performance and efficiency of industrial products. Various types of multistable structures designed using certain methods have few degrees of freedom, high out-of-plane rigidity, simple structure, easy manufacturing, low manufacturing cost and high reliability. Therefore, multistable structures have good application prospects in engineering, especially when structures with different stable modes need to be designed under various loading conditions, but the existing technology does not achieve multistable states for a single structure under various loading conditions. Summary of the invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide an expandable unit structure that exhibits a bistable configuration under three loading modes: compression, bending and shear. The unit structure can realize a bistable configuration under different loading modes based on the stable units in the substructure. When the stable units in the substructure all undergo a stable-state jump, the structure exhibits a compression-loaded bistable configuration in the out-of-plane direction, and both stable states of the structure have good bearing capacity; when two adjacent stable units in the substructure undergo a stable-state jump, the structure exhibits a bending-loaded bistable configuration in the out-of-plane direction; when two bending bistable units with opposite directions are combined in the out-of-plane direction, the structure exhibits a shear-loaded bistable configuration in the in-plane direction; the compression displacement, bending angle and shear displacement of the entire structure can all change with different design parameters; it has the advantages of simple production and processing, convenient motion control, high reliability, etc., and different stable configurations caused by different loading modes can be adapted to a variety of occasions, and is particularly suitable for various metamaterial structures, civil structures, building load-bearing structures, aerospace and many other fields, which have important significance and broad application prospects.

[0005] The objective of the present invention is achieved through the following technical solutions:

[0006] A multi-stable origami structure with multi-mode deformation, comprising a first substructure and a second substructure; the first substructure is composed of thirty-two faces connected to each other by a plurality of rotation pairs, the second substructure is composed of eight faces, the eight faces of the second substructure are formed into units in pairs, the unit type is a straight-grain unit or a curved-grain unit, and the units are connected to each other by rotation pairs;

[0007] The first substructure is connected to the second substructure via a revolute pair; the overall origami structure can exhibit multi-stable characteristics under different loading modes, including compression, bending and shear stability.

[0008] Furthermore, in the first substructure, any two adjacent surfaces are connected by a revolute pair, and the revolute pair includes a hinge, a hinge or a bearing;

[0009] The unit of the second substructure includes two adjacent surfaces, and the revolute pair of each unit is adaptively designed according to the needs;

[0010] The movement of the first substructure determines the deformation of the overall structure, and the second substructure adapts to the movement of the first substructure through the deformation of its units, forming a steady-state jump.

[0011] Furthermore, several surfaces of the first substructure constitute a reference surface, through which the overall origami structure can achieve a steady-state jump in the loading direction;

[0012] In the second substructure, several units realize steady-state characteristics under different loading modes through the combination of rotation pairs, including:

[0013] The compressive steady state in the out-of-plane direction is generated by the steady-state jump of all units simultaneously;

[0014] The bending steady state in the out-of-plane direction is generated by the coordinated steady-state jump of any two adjacent units;

[0015] The shear steady state in the out-of-plane direction results from the combination of two opposite bending steady states.

[0016] Furthermore, the first substructure is composed of two isosceles triangular faces with side lengths of a, b and a, c, and vertex angles of φ1 and φ2. To satisfy the geometric coordination relationship, the two isosceles triangular faces must have the same waist length a, and their thickness is an arbitrary value greater than zero; to satisfy the geometric coordination relationship, the side lengths of all units of the second substructure are b, and their thickness is an arbitrary value greater than zero.

[0017] Furthermore, the movement process of the origami structure is determined by the first substructure, and the second substructure adapts to the movement generated by the first substructure through deformation of each surface, and the steady-state geometry of the second substructure is a combination of conical surfaces with different curvatures.

[0018] Furthermore, when the four units of the second substructure are straight-grain units, the rotational pair is any one of a hinge, a hinge, and a bearing; when the four units of the second substructure are curved-grain units, the rotational pair between the curved-grain unit surfaces in the second substructure is obtained by additional processing.

[0019] Furthermore, the design of the origami structure allows for dense paving in both the plane and height directions to accommodate different application requirements.

[0020] Compared with the prior art, the technical solution of the present invention has the following beneficial effects:

[0021] 1. Multi-mode deformation function: The multi-stable origami structure of the present invention can switch between different stable configurations under a variety of loading conditions (such as compression, bending and shear), and has extremely high adaptability; and the two stable configurations of the present invention have a certain stiffness in both the in-plane direction and the out-of-plane direction, which can be used for load-bearing. The bistable characteristics of the structure enable it to automatically adjust its shape in different physical environments to achieve the desired functionality. Compared with existing single stable-state structures, the present invention can maintain the stability of the structure under different load conditions, and can quickly respond to external stimuli to achieve structural deformability.

[0022] 2. Simple structure and easy to manufacture: The present invention adopts origami structure design, the overall structure is relatively simple, and can be manufactured at low cost and high efficiency using existing manufacturing technology. This structure can be made through standard origami technology and lightweight design, avoiding complex mechanical parts and high-precision processing requirements, greatly reducing production costs.

[0023] 3. High rigidity and high load-bearing capacity: The origami structure of the present invention can maintain high rigidity and load-bearing capacity in the three loading modes of compression, bending and shearing. By rationally designing the revolute pair and the surface structure, the origami structure of the present invention can effectively distribute stress under loads in different directions, avoid excessive deformation or instability, and have good load-bearing performance. In particular, it exhibits excellent structural strength in applications such as aerospace, construction, and robotics that require high strength and high stability.

[0024] 4. Good adjustability and flexibility: The design parameters of the multi-stable origami structure of the present invention (such as unit shape, size and connection method) can be adjusted according to different application requirements, and the adjustable range is large. Designers can flexibly change the switching conditions between stable states according to actual usage to meet the performance requirements under specific loads. In addition, the geometric coordination design of the structure enables each substructure to cooperate well with each other to adapt to different functional requirements.

[0025] 5. Applicable to complex working conditions: The present invention is applicable to deformation and steady-state switching under a variety of complex working conditions, and is particularly applicable to deformation and stability requirements under extreme load conditions. For example, in aerospace, wing deformation, seismic design in building structures, robot joint design and other fields, it can provide effective structural support and performance guarantee.

[0026] 6. High reliability and durability: The structure designed based on the origami principle has high reliability. Under repeated use and heavy loads, the structure shows good durability and can effectively avoid structural failure due to fatigue or deformation. The reasonable configuration of the revolute pair enables the structure to maintain good stability and work efficiency under different working conditions, and the size of the revolute pair can be adjusted as required, and the installation drive position can be arbitrarily selected according to actual requirements.

[0027] 7. Optimized space utilization: Since the origami structure of the present invention has strong adjustability, it can flexibly adapt to spatial deformation and optimize space utilization while maintaining structural rigidity. In particular, in application scenarios with limited space, the structure can achieve efficient space utilization.

[0028] 8. Broad application prospects: The present invention has great application potential and is applicable to a variety of fields such as aerospace, robotics, architecture, metamaterials, and intelligent devices. In these fields, the variability and steady-state characteristics of the structure can greatly enhance the flexibility and functionality of the design. In particular, in the design of deformable and adaptive structures, the present invention can be used as one of the core technologies to promote technological progress in related fields. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1-1 to Figure 1-3 It is a schematic diagram of the three-dimensional structure of the first substructure in a specific embodiment of the present invention.

[0030] Figure 2-1 to Figure 2-3 Schematic diagram of the three-dimensional structure of the second substructure composed entirely of straight-grained units in Example 1 of the present invention.

[0031] Figure 3-1 to Figure 3-3 Schematic diagram of the three-dimensional structure of the second substructure composed entirely of curved pattern units in Example 2 of the present invention.

[0032] Figure 4 Schematic diagram of the three-dimensional structure of the origami structure in Example 1 of the present invention. The second substructure of this embodiment is composed of straight-line units.

[0033] Figure 5 Schematic diagram of the three-dimensional structure of the origami structure in Example 2 of the present invention. The second substructure of this embodiment is composed of curved pattern units.

[0034] Figures 6 to 8 They are three-dimensional structural schematic diagrams of the steady-state configuration of Example 1 of the present invention during compression loading, bending loading and shear loading.

[0035] Figures 9 to 11 They are schematic three-dimensional structural diagrams of the steady-state configuration of Example 2 of the present invention during compression loading, bending loading and shear loading.

[0036] Fig.12 It is a schematic diagram of the three-dimensional structure after three-dimensional expansion (taking the straight-line unit as an example). DETAILED DESCRIPTION

[0037] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0038] Embodiment 1:

[0039] This embodiment provides a multi-stable origami structure with multi-mode deformation. Figure 4, including two substructures, a first substructure and a second substructure; wherein the first substructure is composed of 32 faces, and the second substructure is composed of 8 faces, and the 8 faces of the second substructure are composed of two to four straight-grained units. The first substructure is connected to the second substructure.

[0040] The compression steady state of the origami structure in an out-of-plane direction can be produced by the simultaneous steady-state jumps of the four straight lines of the second substructure; the bending steady state of the structure in an out-of-plane direction can be produced by the simultaneous steady-state jumps of any two adjacent straight-line units of the second substructure; the shear steady state of the structure in an out-of-plane direction can be produced by the arrangement of two structures bent in opposite directions in the out-of-plane direction.

[0041] See Figure 1-1 to Figure 2-3 As shown, the thirty-two surfaces of the first substructure are respectively the first surface A1 of the first substructure, the second surface A2 of the first substructure, the third surface A3 of the first substructure, the fourth surface A4 of the first substructure, the fifth surface A5 of the first substructure, the sixth surface A6 of the first substructure, the seventh surface A7 of the first substructure, the eighth surface A8 of the first substructure, the ninth surface A9 of the first substructure, the tenth surface A10 of the first substructure, the eleventh surface A11 of the first substructure, the twelfth surface A12 of the first substructure, the thirteenth surface A13 of the first substructure, the fourteenth surface A14 of the first substructure, the fifteenth surface A15 of the first substructure, the sixteenth surface A16 of the first substructure, and the Seventeenth surface A17, eighteenth surface A18 of the first substructure, nineteenth surface A19 of the first substructure, twentieth surface A20 of the first substructure, twenty-first surface A21 of the first substructure, twenty-second surface A22 of the first substructure, twenty-third surface A23 of the first substructure, twenty-fourth surface A24 of the first substructure, twenty-fifth surface A25 of the first substructure, twenty-sixth surface A26 of the first substructure, twenty-seventh surface A27 of the first substructure, twenty-eighth surface A28 of the first substructure, twenty-ninth surface A29 of the first substructure, thirtieth surface A30 of the first substructure, thirty-first surface A31 of the first substructure, and thirty-second surface A32 of the first substructure.

[0042] The eight surfaces of the second substructure are respectively the second substructure first surface B1, the second substructure second surface B2, the second substructure third surface B3, the second substructure fourth surface B4, the second substructure fifth surface B5, the second substructure sixth surface B6, the second substructure seventh surface B7, and the second substructure eighth surface B8.

[0043] The first surface A1 of the first substructure is adjacent to the second surface A2 and is connected to each other through the first substructure first rotation pair M1; the first surface A1 of the first substructure is adjacent to the fourth surface A4 and is connected to each other through the first substructure second rotation pair M2; the second surface A2 of the first substructure is adjacent to the third surface A3 and is connected to each other through the first substructure third rotation pair M3; the second surface A2 of the first substructure is adjacent to the eighth surface A8 and is connected to each other through the first substructure fourth rotation pair M4; the third surface A3 of the first substructure is adjacent to the fourth surface A4 and is connected to each other through the first substructure fifth rotation pair M5; the fifth surface A5 of the first substructure is adjacent to the sixth surface A6 and is connected to each other through the first substructure sixth rotation pair M6; The first substructure is adjacent to the eighth surface A8 and is connected to each other through the seventh rotation pair M7 of the first substructure; the sixth surface A6 of the first substructure is adjacent to the seventh surface A7 and is connected to each other through the eighth rotation pair M8 of the first substructure; the seventh surface A7 of the first substructure is adjacent to the eighth surface A8 and is connected to each other through the ninth rotation pair M9 of the first substructure; the ninth surface A9 of the first substructure is adjacent to the tenth surface A10 and is connected to each other through the tenth rotation pair M10 of the first substructure; the ninth surface A9 of the first substructure is adjacent to the twelfth surface A12 and is connected to each other through the eleventh rotation pair M11 of the first substructure; the tenth surface A10 of the first substructure is adjacent to the eleventh surface A11 and is connected to each other through the twelfth rotation pair M12 of the first substructure; the eleventh surface A10 of the first substructure is adjacent to the eleventh surface A11 and is connected to each other through the twelfth rotation pair M12 of the first substructure; The twelfth surface A11 of the first substructure is adjacent to the twelfth surface A12 and is connected to each other through the thirteenth rotation pair M13 of the first substructure; the twelfth surface A12 of the first substructure is adjacent to the fourteenth surface A14 and is connected to each other through the fourteenth rotation pair M14 of the first substructure; the thirteenth surface A13 of the first substructure is adjacent to the fourteenth surface A14 and is connected to each other through the fifteenth rotation pair M15 of the first substructure; the thirteenth surface A13 of the first substructure is adjacent to the sixteenth surface A16 and is connected to each other through the sixteenth rotation pair M16 of the first substructure; the fourteenth surface A14 of the first substructure is adjacent to the fifteenth surface A15 and is connected to each other through the seventeenth rotation pair M17 of the first substructure; the fifteenth surface A15 of the first substructure is adjacent to the sixteenth surface A16 and is connected to each other through the seventeenth rotation pair M17 of the first substructure The eighteenth rotation pair M18 of the first substructure is connected to each other; the seventeenth surface A17 of the first substructure is adjacent to the eighteenth surface A18 and is connected to each other through the nineteenth rotation pair M19 of the first substructure; the seventeenth surface A17 of the first substructure is adjacent to the twentieth surface A20 and is connected to each other through the twentieth rotation pair M20 of the first substructure; the eighteenth surface A18 of the first substructure is adjacent to the nineteenth surface A19 and is connected to each other through the twenty-first rotation pair M21 of the first substructure; the nineteenth surface A19 of the first substructure is adjacent to the twentieth surface A20 and is connected to each other through the twenty-second rotation pair M22 of the first substructure; the nineteenth surface A19 of the first substructure is adjacent to the twenty-first surface A21 and is connected to each other through the twenty-third rotation pair M23 of the first substructure;The twenty-first surface A21 of the first substructure is adjacent to the twenty-second surface A22 and is connected to each other through the twenty-fourth rotation pair M24 of the first substructure; the twenty-first surface A21 of the first substructure is adjacent to the twenty-fourth surface A24 and is connected to each other through the twenty-fifth rotation pair M25 of the first substructure; the twenty-second surface A22 of the first substructure is adjacent to the twenty-third surface A23 and is connected to each other through the twenty-sixth rotation pair M26 of the first substructure; the twenty-third surface A23 of the first substructure is adjacent to the twenty-fourth surface A24 and is connected to each other through the twenty-seventh rotation pair M27 of the first substructure; the twenty-fifth surface A25 of the first substructure is adjacent to the twenty-sixth surface A26 and is connected to each other through the twenty-eighth rotation pair M28 of the first substructure; the twenty-fifth surface A25 of the first substructure is adjacent to the twenty-eighth surface A28 and is connected to each other through the twenty-ninth rotation pair M29 of the first substructure; the twenty-sixth surface A26 of the first substructure is adjacent to the twenty-seventh surface A27 of the first substructure The first substructure is adjacent to and connected to each other through the 30th rotation pair M30; the first substructure 27th surface A27 is adjacent to the 28th surface A28 and connected to each other through the 31st rotation pair M31; the first substructure 27th surface A27 is adjacent to the 29th surface A29 and connected to each other through the 32nd rotation pair M32; the first substructure 29th surface A29 is adjacent to the 30th surface A30 and connected to each other through the 33rd rotation pair M33; the first substructure 29th surface A29 is adjacent to the 32nd surface A32 and connected to each other through the 34th rotation pair M34; the first substructure 30th surface A30 is adjacent to the 31st surface A31 and connected to each other through the 35th rotation pair M35; the first substructure 31st surface A31 is adjacent to the 32nd surface A32 and connected to each other through the 36th rotation pair M36. ;

[0044] The first surface B1 of the second substructure is adjacent to the second surface B2 and is connected to each other through the second substructure first rotation pair N1; the third surface B3 of the second substructure is adjacent to the fourth surface B4 and is connected to each other through the second substructure second rotation pair N2; the fifth surface B5 of the second substructure is adjacent to the sixth surface B6 and is connected to each other through the second substructure third rotation pair N3; the seventh surface B7 of the second substructure is adjacent to the eighth surface B8 and is connected to each other through the second substructure fourth rotation pair N4.

[0045] The first surface A1 of the first substructure is adjacent to the first surface B1 of the second substructure and is connected to each other through the thirty-seventh rotation pair M37 of the first substructure (the fifth rotation pair N5 of the second substructure); the fifth surface A5 of the first substructure is adjacent to the first surface B1 of the second substructure and is connected to each other through the thirty-eighth rotation pair M38 of the first substructure (the sixth rotation pair N6 of the second substructure); the third surface A3 of the first substructure is adjacent to the third surface B3 of the second substructure and is connected to each other through the thirty-ninth rotation pair M39 of the first substructure (the seventh rotation pair N7 of the second substructure); the seventh surface A7 of the first substructure is adjacent to the third surface B3 of the second substructure and is connected to each other through the fortieth rotation pair M40 of the first substructure (the eighth rotation pair N8 of the second substructure) The ninth surface A9 of the first substructure is adjacent to the fourth surface B4 of the second substructure and is connected to each other through the forty-first rotation pair M41 of the first substructure (the ninth rotation pair N9 of the second substructure); the thirteenth surface A13 of the first substructure is adjacent to the fourth surface B4 of the second substructure and is connected to each other through the forty-second rotation pair M42 of the first substructure (the tenth rotation pair N10 of the second substructure); the eleventh surface A11 of the first substructure is adjacent to the seventh surface B7 of the second substructure and is connected to each other through the forty-third rotation pair M43 of the first substructure (the eleventh rotation pair N11 of the second substructure); the fifteenth surface A15 of the first substructure is adjacent to the seventh surface B7 of the second substructure and is connected to each other through the forty-fourth rotation pair M44 of the first substructure (the forty-fourth rotation pair M45 of the second substructure). The first substructure 12th rotation pair N12 is connected to each other; the eighteenth face A18 of the first substructure is adjacent to the eighth face B8 of the second substructure and is connected to each other through the forty-fifth rotation pair M45 of the first substructure (the thirteenth rotation pair N13 of the second substructure); the twenty-second face A22 of the first substructure is adjacent to the eighth face B8 of the second substructure and is connected to each other through the forty-sixth rotation pair M46 of the first substructure (the fourteenth rotation pair N14 of the second substructure); the twentieth face A20 of the first substructure is adjacent to the sixth face B6 of the second substructure and is connected to each other through the forty-seventh rotation pair M47 of the first substructure (the fifteenth rotation pair N15 of the second substructure); the twenty-fourth face A24 of the first substructure is adjacent to the sixth face B6 of the second substructure and is connected to each other through the forty-seventh rotation pair M47 of the first substructure (the fifteenth rotation pair N15 of the second substructure); 6 are adjacent to each other and are connected to each other through the forty-eighth rotation pair M48 of the first substructure (the sixteenth rotation pair N16 of the second substructure); the twenty-eighth surface A28 of the first substructure is adjacent to the fifth surface B5 of the second substructure and is connected to each other through the forty-ninth rotation pair M49 of the first substructure (the seventeenth rotation pair N17 of the second substructure); the thirty-second surface A32 of the first substructure is adjacent to the fifth surface B5 of the second substructure and is connected to each other through the fiftieth rotation pair M50 of the first substructure (the eighteenth rotation pair N18 of the second substructure); the twenty-sixth surface A26 of the first substructure is adjacent to the second surface B2 of the second substructure and is connected to each other through the fifty-first rotation pair M51 of the first substructure (the nineteenth rotation pair N19 of the second substructure);The 30th surface A30 of the first substructure is adjacent to the second surface B2 of the second substructure and is connected to each other through the 52nd rotation pair M52 of the first substructure (the 20th rotation pair N20 of the second substructure).

[0046] According to the connection method between the above modules, this embodiment takes the straight line unit as an example. Figures 6 to 8 They are schematic diagrams of the three-dimensional structures of the unit structure provided in Example 1 under the steady-state positions of compression loading, bending loading and shear loading.

[0047] For details, see Figure 6 , the overall compression stable state of the origami structure in an out-of-plane direction can be determined by the four units of the second substructure. During out-of-plane compression, the second, eighth, twelfth, fourteenth, nineteenth, twenty-first, twenty-seventh, and twenty-ninth surfaces of the first substructure fold in a direction close to the reference plane around the reference plane determined by the fourth rotation pair of the first substructure and the fourteenth rotation pair of the first substructure, the twenty-third rotation pair of the first substructure, and the thirty-second rotation pair of the first substructure, until the four units of the second substructure jump from the first stable state to the second stable state after panel deformation, at which time the structure as a whole realizes the jump from the first stable state to the second stable state of out-of-plane compression.

[0048] See Figure 7The overall bending steady state of the origami structure in one out-of-plane direction can be determined by any two adjacent units of the second substructure, and a total of four out-of-plane directions of bending can be achieved. When bending in the out-of-plane direction, the first, fourth, twenty-third, and twenty-fourth faces of the first substructure fold around the reference plane determined by the first rotation pair of the first substructure, the fifth rotation pair of the first substructure, the twenty-fifth rotation pair of the first substructure, and the twenty-sixth rotation pair of the first substructure in a direction close to the reference plane; the second, third, fifth, eighth, nineteenth, twentieth, twenty-first, and twenty-second faces of the first substructure fold around the reference plane determined by the fourth rotation pair of the first substructure and the twenty-third rotation pair of the first substructure in a direction close to the reference plane; the twelfth, fourteenth, twenty-seventh, and twenty-ninth faces of the first substructure fold around the fourteenth rotation pair of the first substructure The first substructure is folded in a direction close to the reference plane around the reference plane determined by the first substructure sixth rotation pair, the first substructure ninth rotation pair and the first substructure twentieth rotation pair and the twenty-first rotation pair, until the two units of the second substructure determined by the first and second surfaces of the second substructure and the fifth and sixth surfaces of the second substructure jump from the first stable state to the second stable state after the panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state with bending in the out-of-plane direction. When bending in the out-of-plane direction two, the ninth, tenth, twenty-fifth, and twenty-sixth surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the eleventh rotation pair of the first substructure, the twelfth rotation pair of the first substructure, the twenty-ninth rotation pair of the first substructure, and the thirtieth rotation pair of the first substructure, and the eleventh, twelfth, thirteenth, fourteenth, twenty-seventh, twenty-eighth, twenty-ninth, and thirtieth surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the fourteenth rotation pair of the first substructure and the thirty-second rotation pair of the first substructure, and the second, eighth, nineteenth, and twenty-first surfaces of the first substructure are folded in a direction close to the reference plane around the fourth rotation pair of the first substructure and The reference plane determined by the twenty-third rotational pair of the first substructure is folded in a direction close to the reference plane, and the fifteenth, sixteenth, thirty-first and thirty-second surfaces of the first substructure are folded around the reference plane determined by the sixteenth rotational pair of the first substructure, the seventeenth rotational pair of the first substructure and the thirty-fourth rotational pair of the first substructure and the thirty-fifth rotational pair of the first substructure in a direction close to the reference plane, until the two units of the second substructure determined by the first and second surfaces of the second substructure and the third and fourth surfaces of the second substructure jump from the first stable state to the second stable state after panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state of the second bending in the out-of-plane direction.When bending in the third out-of-plane direction, the third, fourth, twenty-second, and twenty-third surfaces of the first substructure are folded around the reference plane determined by the second rotation pair of the first substructure, the third rotation pair of the first substructure, the twenty-fourth rotation pair of the first substructure, and the twenty-seventh rotation pair of the first substructure in a direction close to the reference plane, the first, second, seventh, eighth, eighteenth, nineteenth, twenty-first, and twenty-fourth surfaces of the first substructure are folded around the reference plane determined by the fourth rotation pair of the first substructure and the twenty-third rotation pair of the first substructure in a direction close to the reference plane, and the twelfth, fourteenth, twenty-seventh, and twenty-ninth surfaces of the first substructure are folded around the fourteenth rotation pair of the first substructure The fifth, sixth, seventeenth and twentieth surfaces of the first substructure are folded in a direction close to the reference plane around the seventh rotational pair of the first substructure, the eighth rotational pair of the first substructure and the nineteenth rotational pair of the first substructure and the twenty-second rotational pair of the first substructure, until the two units of the second substructure determined by the third and fourth surfaces of the second substructure and the seventh and eighth surfaces of the second substructure jump from the first stable state to the second stable state after panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state of three bendings in the out-of-plane direction. When bending in the out-of-plane direction four, the tenth, eleventh, twenty-fifth, and twenty-eighth surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the tenth rotation pair of the first substructure, the thirteenth rotation pair of the first substructure, the twenty-eighth rotation pair of the first substructure, and the thirty-first rotation pair of the first substructure, the ninth, twelfth, fourteenth, fifteenth, twenty-sixth, twenty-seventh, twenty-nineth, and thirty-second surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the fourteenth rotation pair of the first substructure and the thirty-second rotation pair of the first substructure, and the second, eighth, nineteenth, and twenty-first surfaces of the first substructure are folded in a direction close to the reference plane around the fourth rotation pair of the first substructure The reference plane determined by the twenty-third rotation pair of the first substructure is folded in a direction close to the reference plane, and the thirteenth, sixteenth, thirtieth and thirty-first surfaces of the first substructure are folded in a direction close to the reference plane around the fifteenth rotation pair of the first substructure, the eighteenth rotation pair of the first substructure and the thirty-third rotation pair of the first substructure and the thirty-sixth rotation pair of the first substructure, until the two units of the second substructure determined by the fifth and sixth surfaces of the second substructure and the seventh and eighth surfaces of the second substructure jump from the first stable state to the second stable state after panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state of four bendings in the out-of-plane direction.

[0049] See Figure 8 The overall shear stability of the origami structure in one out-of-plane direction can be obtained by arranging two structures with bending stability in opposite directions out-of-plane. Similarly, shear in four directions can be achieved.

[0050] Embodiment 2:

[0051] This embodiment provides a multi-stable origami structure with multi-mode deformation. Figure 5 , including two substructures, a first substructure and a second substructure; wherein the first substructure is composed of 32 faces, the second substructure is composed of 8 faces, and the 8 faces of the second substructure are composed of two by two to form a total of four curved pattern units. The first substructure is connected to the second substructure.

[0052] The compression steady state of the origami structure in an out-of-plane direction can be produced by the simultaneous steady-state jumps of the four curved lines of the second substructure; the bending steady state of the structure in an out-of-plane direction can be produced by the simultaneous steady-state jumps of any two adjacent curved line units of the second substructure; the shear steady state of the structure in an out-of-plane direction can be produced by the arrangement of two structures bent in opposite directions in the out-of-plane direction.

[0053] See Figure 1-1 to Figure 1-3 and Figure 3-1 to Figure 3-3 As shown, the thirty-two surfaces of the first substructure are respectively the first surface A1 of the first substructure, the second surface A2 of the first substructure, the third surface A3 of the first substructure, the fourth surface A4 of the first substructure, the fifth surface A5 of the first substructure, the sixth surface A6 of the first substructure, the seventh surface A7 of the first substructure, the eighth surface A8 of the first substructure, the ninth surface A9 of the first substructure, the tenth surface A10 of the first substructure, the eleventh surface A11 of the first substructure, the twelfth surface A12 of the first substructure, the thirteenth surface A13 of the first substructure, the fourteenth surface A14 of the first substructure, the fifteenth surface A15 of the first substructure, the sixteenth surface A16 of the first substructure, and the Seventeenth surface A17, eighteenth surface A18 of the first substructure, nineteenth surface A19 of the first substructure, twentieth surface A20 of the first substructure, twenty-first surface A21 of the first substructure, twenty-second surface A22 of the first substructure, twenty-third surface A23 of the first substructure, twenty-fourth surface A24 of the first substructure, twenty-fifth surface A25 of the first substructure, twenty-sixth surface A26 of the first substructure, twenty-seventh surface A27 of the first substructure, twenty-eighth surface A28 of the first substructure, twenty-ninth surface A29 of the first substructure, thirtieth surface A30 of the first substructure, thirty-first surface A31 of the first substructure, and thirty-second surface A32 of the first substructure.

[0054] The eight surfaces of the second substructure are respectively the second substructure first surface B1, the second substructure second surface B2, the second substructure third surface B3, the second substructure fourth surface B4, the second substructure fifth surface B5, the second substructure sixth surface B6, the second substructure seventh surface B7, and the second substructure eighth surface B8.

[0055] The first surface A1 of the first substructure is adjacent to the second surface A2 and is connected to each other through the first substructure first rotation pair M1; the first surface A1 of the first substructure is adjacent to the fourth surface A4 and is connected to each other through the first substructure second rotation pair M2; the second surface A2 of the first substructure is adjacent to the third surface A3 and is connected to each other through the first substructure third rotation pair M3; the second surface A2 of the first substructure is adjacent to the eighth surface A8 and is connected to each other through the first substructure fourth rotation pair M4; the third surface A3 of the first substructure is adjacent to the fourth surface A4 and is connected to each other through the first substructure fifth rotation pair M5; the fifth surface A5 of the first substructure is adjacent to the sixth surface A6 and is connected to each other through the first substructure sixth rotation pair M6; The first substructure is adjacent to the eighth surface A8 and is connected to each other through the seventh rotation pair M7 of the first substructure; the sixth surface A6 of the first substructure is adjacent to the seventh surface A7 and is connected to each other through the eighth rotation pair M8 of the first substructure; the seventh surface A7 of the first substructure is adjacent to the eighth surface A8 and is connected to each other through the ninth rotation pair M9 of the first substructure; the ninth surface A9 of the first substructure is adjacent to the tenth surface A10 and is connected to each other through the tenth rotation pair M10 of the first substructure; the ninth surface A9 of the first substructure is adjacent to the twelfth surface A12 and is connected to each other through the eleventh rotation pair M11 of the first substructure; the tenth surface A10 of the first substructure is adjacent to the eleventh surface A11 and is connected to each other through the twelfth rotation pair M12 of the first substructure; the eleventh surface A10 of the first substructure is adjacent to the eleventh surface A11 and is connected to each other through the twelfth rotation pair M12 of the first substructure; The twelfth surface A11 of the first substructure is adjacent to the twelfth surface A12 and is connected to each other through the thirteenth rotation pair M13 of the first substructure; the twelfth surface A12 of the first substructure is adjacent to the fourteenth surface A14 and is connected to each other through the fourteenth rotation pair M14 of the first substructure; the thirteenth surface A13 of the first substructure is adjacent to the fourteenth surface A14 and is connected to each other through the fifteenth rotation pair M15 of the first substructure; the thirteenth surface A13 of the first substructure is adjacent to the sixteenth surface A16 and is connected to each other through the sixteenth rotation pair M16 of the first substructure; the fourteenth surface A14 of the first substructure is adjacent to the fifteenth surface A15 and is connected to each other through the seventeenth rotation pair M17 of the first substructure; the fifteenth surface A15 of the first substructure is adjacent to the sixteenth surface A16 and is connected to each other through the seventeenth rotation pair M17 of the first substructure The eighteenth rotation pair M18 of the first substructure is connected to each other; the seventeenth surface A17 of the first substructure is adjacent to the eighteenth surface A18 and is connected to each other through the nineteenth rotation pair M19 of the first substructure; the seventeenth surface A17 of the first substructure is adjacent to the twentieth surface A20 and is connected to each other through the twentieth rotation pair M20 of the first substructure; the eighteenth surface A18 of the first substructure is adjacent to the nineteenth surface A19 and is connected to each other through the twenty-first rotation pair M21 of the first substructure; the nineteenth surface A19 of the first substructure is adjacent to the twentieth surface A20 and is connected to each other through the twenty-second rotation pair M22 of the first substructure; the nineteenth surface A19 of the first substructure is adjacent to the twenty-first surface A21 and is connected to each other through the twenty-third rotation pair M23 of the first substructure;The twenty-first surface A21 of the first substructure is adjacent to the twenty-second surface A22 and is connected to each other through the twenty-fourth rotation pair M24 of the first substructure; the twenty-first surface A21 of the first substructure is adjacent to the twenty-fourth surface A24 and is connected to each other through the twenty-fifth rotation pair M25 of the first substructure; the twenty-second surface A22 of the first substructure is adjacent to the twenty-third surface A23 and is connected to each other through the twenty-sixth rotation pair M26 of the first substructure; the twenty-third surface A23 of the first substructure is adjacent to the twenty-fourth surface A24 and is connected to each other through the twenty-seventh rotation pair M27 of the first substructure; the twenty-fifth surface A25 of the first substructure is adjacent to the twenty-sixth surface A26 and is connected to each other through the twenty-eighth rotation pair M28 of the first substructure; the twenty-fifth surface A25 of the first substructure is adjacent to the twenty-eighth surface A28 and is connected to each other through the twenty-ninth rotation pair M29 of the first substructure; the twenty-sixth surface A26 of the first substructure is adjacent to the twenty-seventh surface A27 of the first substructure The first substructure is adjacent to and connected to each other through the 30th rotation pair M30; the first substructure 27th surface A27 is adjacent to the 28th surface A28 and connected to each other through the 31st rotation pair M31; the first substructure 27th surface A27 is adjacent to the 29th surface A29 and connected to each other through the 32nd rotation pair M32; the first substructure 29th surface A29 is adjacent to the 30th surface A30 and connected to each other through the 33rd rotation pair M33; the first substructure 29th surface A29 is adjacent to the 32nd surface A32 and connected to each other through the 34th rotation pair M34; the first substructure 30th surface A30 is adjacent to the 31st surface A31 and connected to each other through the 35th rotation pair M35; the first substructure 31st surface A31 is adjacent to the 32nd surface A32 and connected to each other through the 36th rotation pair M36. ;

[0056] The first surface B1 of the second substructure is adjacent to the second surface B2 and is connected to each other through the second substructure first rotation pair N1; the third surface B3 of the second substructure is adjacent to the fourth surface B4 and is connected to each other through the second substructure second rotation pair N2; the fifth surface B5 of the second substructure is adjacent to the sixth surface B6 and is connected to each other through the second substructure third rotation pair N3; the seventh surface B7 of the second substructure is adjacent to the eighth surface B8 and is connected to each other through the second substructure fourth rotation pair N4.

[0057] The first surface A1 of the first substructure is adjacent to the first surface B1 of the second substructure and is connected to each other through the thirty-seventh rotation pair M37 of the first substructure (the fifth rotation pair N5 of the second substructure); the fifth surface A5 of the first substructure is adjacent to the first surface B1 of the second substructure and is connected to each other through the thirty-eighth rotation pair M38 of the first substructure (the sixth rotation pair N6 of the second substructure); the third surface A3 of the first substructure is adjacent to the third surface B3 of the second substructure and is connected to each other through the thirty-ninth rotation pair M39 of the first substructure (the seventh rotation pair N7 of the second substructure); the seventh surface A7 of the first substructure is adjacent to the third surface B3 of the second substructure and is connected to each other through the fortieth rotation pair M40 of the first substructure (the eighth rotation pair N8 of the second substructure) The ninth surface A9 of the first substructure is adjacent to the fourth surface B4 of the second substructure and is connected to each other through the forty-first rotation pair M41 of the first substructure (the ninth rotation pair N9 of the second substructure); the thirteenth surface A13 of the first substructure is adjacent to the fourth surface B4 of the second substructure and is connected to each other through the forty-second rotation pair M42 of the first substructure (the tenth rotation pair N10 of the second substructure); the eleventh surface A11 of the first substructure is adjacent to the seventh surface B7 of the second substructure and is connected to each other through the forty-third rotation pair M43 of the first substructure (the eleventh rotation pair N11 of the second substructure); the fifteenth surface A15 of the first substructure is adjacent to the seventh surface B7 of the second substructure and is connected to each other through the forty-fourth rotation pair M44 of the first substructure (the forty-fourth rotation pair M45 of the second substructure). The first substructure 12th rotation pair N12 is connected to each other; the eighteenth face A18 of the first substructure is adjacent to the eighth face B8 of the second substructure and is connected to each other through the forty-fifth rotation pair M45 of the first substructure (the thirteenth rotation pair N13 of the second substructure); the twenty-second face A22 of the first substructure is adjacent to the eighth face B8 of the second substructure and is connected to each other through the forty-sixth rotation pair M46 of the first substructure (the fourteenth rotation pair N14 of the second substructure); the twentieth face A20 of the first substructure is adjacent to the sixth face B6 of the second substructure and is connected to each other through the forty-seventh rotation pair M47 of the first substructure (the fifteenth rotation pair N15 of the second substructure); the twenty-fourth face A24 of the first substructure is adjacent to the sixth face B6 of the second substructure and is connected to each other through the forty-seventh rotation pair M47 of the first substructure (the fifteenth rotation pair N15 of the second substructure); 6 are adjacent to each other and are connected to each other through the forty-eighth rotation pair M48 of the first substructure (the sixteenth rotation pair N16 of the second substructure); the twenty-eighth surface A28 of the first substructure is adjacent to the fifth surface B5 of the second substructure and is connected to each other through the forty-ninth rotation pair M49 of the first substructure (the seventeenth rotation pair N17 of the second substructure); the thirty-second surface A32 of the first substructure is adjacent to the fifth surface B5 of the second substructure and is connected to each other through the fiftieth rotation pair M50 of the first substructure (the eighteenth rotation pair N18 of the second substructure); the twenty-sixth surface A26 of the first substructure is adjacent to the second surface B2 of the second substructure and is connected to each other through the fifty-first rotation pair M51 of the first substructure (the nineteenth rotation pair N19 of the second substructure);The 30th surface A30 of the first substructure is adjacent to the second surface B2 of the second substructure and is connected to each other through the 52nd rotation pair M52 of the first substructure (the 20th rotation pair N20 of the second substructure).

[0058] According to the connection method between the above modules, this embodiment takes the curved pattern unit as an example. Figures 9 to 11 Schematic diagrams of the three-dimensional structures of the unit structure provided in Example 2 under the steady-state positions of compression loading, bending loading and shear loading.

[0059] For details, see Fig. 9 , the overall compression stable state of the origami structure in an out-of-plane direction can be determined by the four units of the second substructure. During out-of-plane compression, the second, eighth, twelfth, fourteenth, nineteenth, twenty-first, twenty-seventh, and twenty-ninth surfaces of the first substructure fold in a direction close to the reference plane around the reference plane determined by the fourth rotation pair of the first substructure and the fourteenth rotation pair of the first substructure, the twenty-third rotation pair of the first substructure, and the thirty-second rotation pair of the first substructure, until the four units of the second substructure jump from the first stable state to the second stable state after panel deformation, at which time the structure as a whole realizes the jump from the first stable state to the second stable state of out-of-plane compression.

[0060] See Fig.10The overall bending steady state of the origami structure in one out-of-plane direction can be determined by any two adjacent units of the second substructure, and a total of four out-of-plane directions of bending can be achieved. When bending in the out-of-plane direction, the first, fourth, twenty-third, and twenty-fourth faces of the first substructure fold around the reference plane determined by the first rotation pair of the first substructure, the fifth rotation pair of the first substructure, the twenty-fifth rotation pair of the first substructure, and the twenty-sixth rotation pair of the first substructure in a direction close to the reference plane; the second, third, fifth, eighth, nineteenth, twentieth, twenty-first, and twenty-second faces of the first substructure fold around the reference plane determined by the fourth rotation pair of the first substructure and the twenty-third rotation pair of the first substructure in a direction close to the reference plane; the twelfth, fourteenth, twenty-seventh, and twenty-ninth faces of the first substructure fold around the fourteenth rotation pair of the first substructure The first substructure is folded in a direction close to the reference plane around the reference plane determined by the first substructure sixth rotation pair, the first substructure ninth rotation pair and the first substructure twentieth rotation pair and the twenty-first rotation pair, until the two units of the second substructure determined by the first and second surfaces of the second substructure and the fifth and sixth surfaces of the second substructure jump from the first stable state to the second stable state after the panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state with bending in the out-of-plane direction. When bending in the out-of-plane direction two, the ninth, tenth, twenty-fifth, and twenty-sixth surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the eleventh rotation pair of the first substructure, the twelfth rotation pair of the first substructure, the twenty-ninth rotation pair of the first substructure, and the thirtieth rotation pair of the first substructure, and the eleventh, twelfth, thirteenth, fourteenth, twenty-seventh, twenty-eighth, twenty-ninth, and thirtieth surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the fourteenth rotation pair of the first substructure and the thirty-second rotation pair of the first substructure, and the second, eighth, nineteenth, and twenty-first surfaces of the first substructure are folded in a direction close to the reference plane around the fourth rotation pair of the first substructure and The reference plane determined by the twenty-third rotational pair of the first substructure is folded in a direction close to the reference plane, and the fifteenth, sixteenth, thirty-first and thirty-second surfaces of the first substructure are folded around the reference plane determined by the sixteenth rotational pair of the first substructure, the seventeenth rotational pair of the first substructure and the thirty-fourth rotational pair of the first substructure and the thirty-fifth rotational pair of the first substructure in a direction close to the reference plane, until the two units of the second substructure determined by the first and second surfaces of the second substructure and the third and fourth surfaces of the second substructure jump from the first stable state to the second stable state after panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state of the second bending in the out-of-plane direction.When bending in the third out-of-plane direction, the third, fourth, twenty-second, and twenty-third surfaces of the first substructure are folded around the reference plane determined by the second rotation pair of the first substructure, the third rotation pair of the first substructure, the twenty-fourth rotation pair of the first substructure, and the twenty-seventh rotation pair of the first substructure in a direction close to the reference plane, the first, second, seventh, eighth, eighteenth, nineteenth, twenty-first, and twenty-fourth surfaces of the first substructure are folded around the reference plane determined by the fourth rotation pair of the first substructure and the twenty-third rotation pair of the first substructure in a direction close to the reference plane, and the twelfth, fourteenth, twenty-seventh, and twenty-ninth surfaces of the first substructure are folded around the fourteenth rotation pair of the first substructure The fifth, sixth, seventeenth and twentieth surfaces of the first substructure are folded in a direction close to the reference plane around the seventh rotational pair of the first substructure, the eighth rotational pair of the first substructure and the nineteenth rotational pair of the first substructure and the twenty-second rotational pair of the first substructure, until the two units of the second substructure determined by the third and fourth surfaces of the second substructure and the seventh and eighth surfaces of the second substructure jump from the first stable state to the second stable state after panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state of three bendings in the out-of-plane direction. When bending in the out-of-plane direction four, the tenth, eleventh, twenty-fifth, and twenty-eighth surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the tenth rotation pair of the first substructure, the thirteenth rotation pair of the first substructure, the twenty-eighth rotation pair of the first substructure, and the thirty-first rotation pair of the first substructure, the ninth, twelfth, fourteenth, fifteenth, twenty-sixth, twenty-seventh, twenty-nineth, and thirty-second surfaces of the first substructure are folded in a direction close to the reference plane around the reference plane determined by the fourteenth rotation pair of the first substructure and the thirty-second rotation pair of the first substructure, and the second, eighth, nineteenth, and twenty-first surfaces of the first substructure are folded in a direction close to the reference plane around the fourth rotation pair of the first substructure The reference plane determined by the twenty-third rotation pair of the first substructure is folded in a direction close to the reference plane, and the thirteenth, sixteenth, thirtieth and thirty-first surfaces of the first substructure are folded in a direction close to the reference plane around the fifteenth rotation pair of the first substructure, the eighteenth rotation pair of the first substructure and the thirty-third rotation pair of the first substructure and the thirty-sixth rotation pair of the first substructure, until the two units of the second substructure determined by the fifth and sixth surfaces of the second substructure and the seventh and eighth surfaces of the second substructure jump from the first stable state to the second stable state after panel deformation. At this time, the overall structure realizes the jump from the first stable state to the second stable state of four bendings in the out-of-plane direction.

[0061] See Fig.11 The overall shear stability of the origami structure in one out-of-plane direction can be obtained by arranging two structures with bending stability in opposite directions out-of-plane. Similarly, shear in four directions can be achieved.

[0062] See Fig.12The origami structure can be expanded three-dimensionally in one direction in the plane and another direction out of the plane (the figure shows the ruled unit as an example). The expanded structure can achieve a larger compression displacement, a larger bending angle and a larger shear displacement.

[0063] Preferably, the first substructure is composed of two isosceles triangular faces with side lengths of a, b and a, c, and vertex angles of φ1 and φ2, respectively. To satisfy the geometric coordination relationship, the two isosceles triangular faces must have the same waist length a, and their thickness can be any value greater than zero; the second substructure is composed of straight-grained units or curved-grained units. To satisfy the geometric coordination relationship, the side length of all units of the second substructure is b, and their thickness can be any value greater than zero.

[0064] Preferably, the movement process of the origami structure is determined by the first substructure, the second substructure adapts to the movement generated by the first substructure through panel deformation, and the steady-state geometry of the second substructure is a combination of conical surfaces with different curvatures.

[0065] Preferably, when the four units of the second substructure are straight-grain units, the revolving pair may be any one of a hinge, a hinge, and a bearing; when the four units of the second substructure are curved-grain units, the revolving pair between the curved-grain unit surfaces in the second substructure needs to consider additional processing.

[0066] Preferably, the origami structure can be densely laid in the plane and height direction thereof according to the arrangement and connection between the above modules.

[0067] In summary, as long as the above-mentioned origami structure meets the above-mentioned constraints, that is, as long as it meets the connection mode of the revolute pair, the steady-state effect required by the present invention can be achieved. The revolute pair is a hinge, hinge or bearing, and the revolute pair of the curved unit requires additional design; the length of the revolute pair is not limited, as long as it constitutes a revolute pair. The thickness of each surface can be freely selected as needed. The structure of the present invention has three steady-state modes, which can be used to achieve steady state by setting different loading methods. Since the unit structure proposed in the present invention has the functions of diverse steady-state modes and simple unit structure, it has the advantages of simple installation, convenient operation, and easy transportation, and is particularly suitable for application in metamaterial structures, civil structures, building load-bearing structures, aerospace and other fields.

[0068] The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solution of the present invention. The above specific embodiments are merely illustrative and not restrictive. Without departing from the scope of the present invention and the scope of protection of the claims, a person of ordinary skill in the art can also make many forms of specific changes under the guidance of the present invention, which all fall within the scope of protection of the present invention.

Claims

1. A multi-stable origami structure with multi-mode deformation, characterized in that: It includes a first substructure and a second substructure; the first substructure is composed of thirty-two faces connected to each other through a plurality of rotation pairs, the second substructure is composed of eight faces, the eight faces of the second substructure are formed into units in pairs, the unit type is a straight-grain unit or a curved-grain unit, and the units are connected to each other through rotation pairs; The first substructure is connected to the second substructure via a revolute pair; the overall origami structure can exhibit multi-stable characteristics under different loading modes, including compression, bending and shear stability.

2. A multi-stable origami structure with multi-mode deformation according to claim 1, characterized in that: In the first substructure, any two adjacent surfaces are connected by a revolute pair, and the revolute pair may be in the form of a hinge, a hinge or a bearing; The unit of the second substructure includes two adjacent surfaces, and the revolute pair of each unit is adaptively designed according to the needs; The movement of the first substructure determines the deformation of the overall structure, and the second substructure adapts to the movement of the first substructure through the deformation of its units, forming a steady-state jump.

3. The multi-stable origami structure with multi-mode deformation according to claim 1, characterized in that: Several surfaces of the first substructure constitute a reference plane, through which the overall origami structure can achieve a steady-state jump in the loading direction; In the second substructure, several units realize steady-state characteristics under different loading modes through the combination of rotation pairs, including: The compressive steady state in the out-of-plane direction is generated by the steady-state jump of all units simultaneously; The bending steady state in the out-of-plane direction is generated by the coordinated steady-state jump of any two adjacent units; The shear steady state in the out-of-plane direction results from the combination of two opposite bending steady states.

4. The multi-stable origami structure with multi-mode deformation according to claim 1, characterized in that: The first substructure is composed of two isosceles triangular faces with side lengths of a, b and a, c, and vertex angles of φ1 and φ2. To satisfy the geometric coordination relationship, the two isosceles triangular faces must have the same waist length a, and their thickness is an arbitrary value greater than zero; to satisfy the geometric coordination relationship, the side lengths of all units of the second substructure are b, and their thickness is an arbitrary value greater than zero.

5. The multi-stable origami structure with multi-mode deformation according to claim 1, characterized in that: The movement process of the origami structure is determined by the first substructure, and the second substructure adapts to the movement of the first substructure through deformation of each surface. The steady-state geometric form of the second substructure is a combination of conical surfaces with different curvatures.

6. The multi-stable origami structure with multi-mode deformation according to claim 1, characterized in that: When the four units of the second substructure are straight-grain units, the rotational pair is any one of a hinge, a hinge, and a bearing; when the four units of the second substructure are curved-grain units, the rotational pair between the curved-grain unit surfaces in the second substructure is obtained by additional processing.

7. The multi-stable origami structure with multi-mode deformation according to claim 1, characterized in that: The design of the origami structure allows for dense paving in both the plane and height directions to accommodate different application requirements.

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