Folding and unfolding unit, folding and unfolding mechanism and folding and unfolding device

Abstract

The invention discloses a folding and unfolding unit, a folding and unfolding mechanism and a folding and unfolding device.The folding and unfolding unit comprises a substrate, the substrate comprises four regular N-polygon pieces, the four regular N-polygon pieces are connected in sequence, one side edges of every two adjacent regular N-polygon pieces are connected, a valley fold is formed at the joint of every two adjacent regular N-polygon pieces, and the valley fold is arranged between every two adjacent regular N-polygon pieces. Each regular N-polygon sheet is provided with a central axis and a peak fold, the included angle between the central axis and the peak fold is equal to the inner center angle of the regular N-polygon sheet, one common side of the central axis and the peak fold defines an overlapping area, and the other common side of the central axis and the peak fold defines another overlapping area; and one overlapping region of each of two adjacent regular N-sided sheets is connected with the valley crease and is symmetrical about the valley crease, and the two corresponding overlapping regions are attached and fixed. Accurate control of the folding and unfolding unit can be improved, and the reliability is high.

Description

Technical Field

[0001] The present invention relates to the technical field of chiral origami, and in particular to a folding and unfolding unit, a folding and unfolding mechanism, and a folding and unfolding device. Background Art

[0002] Chirality refers to the property that an object cannot coincide with its mirror image, just like the left and right hands which are mirror images of each other but cannot completely overlap. Applying this chiral property to origami design can create mechanical structures with unique deformation and motion characteristics. Chiral origami mechanisms usually involve complex folding patterns that allow the mechanism (usually paper, plastic, or metal sheet) to unfold or fold in a specific way when subjected to an external force.

[0003] Chiral origami mechanisms achieve the integration of large folding and unfolding ratios and versatility through geometric folding, and are widely used in fields such as aerospace deployable structures and soft robots. Currently, the design and application of chiral origami mechanisms mostly focus on molecular fields such as chemistry and biology, while the research in mechanism theory is relatively less. The classic non-rigid Kresling chiral origami mechanism is widely used in the field of adaptive and reconfigurable robots due to its excellent deployability and motion performance, and its characteristic of helical motion deformation can effectively dissipate energy, so it is also often used in the design of metamaterial structures.

[0004] However, the bistable nature of the non-rigid Kresling chiral origami mechanism makes it difficult to achieve precise control, with low reliability, and its applications are mostly limited to fields such as soft robots or new material design. Summary of the Invention

[0005] The present invention aims to at least solve one of the technical problems existing in the prior art. For this purpose, the present invention provides a folding and unfolding unit, a folding and unfolding mechanism, and a folding and unfolding device, which can improve the precise control of the folding and unfolding unit and have relatively high reliability.

[0006] In a first aspect, an embodiment of the present invention provides a folding and unfolding unit, which includes:

[0007] A substrate, the substrate includes four regular N-sided polygon sheets, the four regular N-sided polygon sheets are connected in sequence, one side of each of the adjacent two regular N-sided polygon sheets is connected, and a valley fold is formed at the connection of the adjacent two regular N-sided polygons. Each regular N-sided polygon sheet has a central axis and a peak fold. The included angle between the central axis and the peak fold is equal to the inner angle of the regular N-sided polygon sheet. One side where the central axis and the peak fold are common defines an overlapping area, and the other side where the central axis and the peak fold are common defines another overlapping area. And one overlapping area of each of the adjacent two regular N-sided polygon sheets is connected to the valley fold and is symmetric about the valley fold. The two overlapping areas connected to the same valley fold correspond. An overlapping area of the first regular N-sided polygon sheet far from the valley fold and an overlapping area of the last regular N-sided polygon sheet far from the valley fold correspond, and the corresponding two overlapping areas are bonded and fixed; wherein,

[0008] N≥4. When N is an even number, the central axis is the connection line of two opposite vertices of the regular N-sided polygon sheet. When N is an odd number, the central axis is the connection line of a vertex of the regular N-sided polygon and the center point of the side line opposite to a vertex.

[0009] The folding and unfolding unit according to the embodiment of the present invention has at least the following beneficial effects:

[0010] By folding the peak fold inward, folding the valley fold outward, and overlapping and fixing the corresponding two overlapping areas, a folding and unfolding unit with folding and unfolding functions can be formed. When in use, by controlling the included angle between the two planes on both sides of the peak fold of a regular N-sided polygon sheet at the head or the end, the folding and unfolding unit can be folded or unfolded. That is to say, the folding degree or the unfolding degree of the folding and unfolding unit changes with the change of the included angle between the two planes. In this way, the controllability of the folding and unfolding unit is relatively high, the precise control of the folding and unfolding unit can be realized, its reliability is relatively high, the operation is simple, and the folding ratio is large and the cost is low.

[0011] The folding and unfolding unit according to the embodiment of the present invention, the folding and unfolding unit further includes support sheets, and support sheets are respectively connected to both sides of the peak fold in each regular N-sided polygon sheet.

[0012] The folding and unfolding unit according to the embodiment of the present invention, the shape of the support sheet is half of the shape of the regular N-sided polygon sheet, and support sheets are arranged on the opposite two sides of each regular N-sided polygon sheet.

[0013] The folding and unfolding unit according to the embodiment of the present invention, the folding and unfolding unit further includes a first connection structure, and each support sheet is connected with a first connection structure. The first connection structure is located between the regular N-sided polygon sheet and the support sheet, and the first connection structure is used to connect the regular N-sided polygon sheet and the support sheet.

[0014] According to the folding and unfolding unit of the embodiment of the present invention, the folding and unfolding unit further includes a second connection structure, and at least one of the corresponding two overlapping regions is connected with the second connection structure, and the corresponding two overlapping regions are fixed in contact with each other through the second connection structure.

[0015] In a second aspect, the embodiment of the present invention provides a folding and unfolding mechanism, and the folding and unfolding mechanism includes the folding and unfolding unit as described above;

[0016] The number of the folding and unfolding units is at least two, and at least two folding and unfolding units are connected in sequence, and at least two folding and unfolding units can be stretched or folded together.

[0017] According to the folding and unfolding mechanism of the embodiment of the present invention, at least one of the at least two folding and unfolding units is a right-handed folding and unfolding unit, at least one is a left-handed folding and unfolding unit, or all of the at least two folding and unfolding units are right-handed folding and unfolding units, or all of the at least two folding and unfolding units are left-handed folding and unfolding units; wherein,

[0018] The peaks of the right-handed folding and unfolding unit are formed by the inner angles of the regular N-sided polygon being rotated counterclockwise by the corresponding central axes, and the peaks of the left-handed folding and unfolding unit are formed by the inner angles of the regular N-sided polygon being rotated clockwise by the corresponding central axes;

[0019] After the right-handed folding and unfolding unit is stretched, a first dihedral angle, a second dihedral angle, a third dihedral angle, and a fourth dihedral angle are formed. The first edge of the first dihedral angle, the second edge of the second dihedral angle, the third edge of the third dihedral angle, and the fourth edge of the fourth dihedral angle intersect. The first dihedral angle, the second dihedral angle, the third dihedral angle, and the fourth dihedral angle surround the intersection point of the first edge, the second edge, the third edge, and the fourth edge. The first dihedral angle has two first connecting sides symmetric about the first edge, and the two first connecting sides have no common endpoints with the first edge. The second dihedral angle has two second connecting sides symmetric about the second edge, and the two second connecting sides have no common endpoints with the second edge. The third dihedral angle has two third connecting sides symmetric about the third edge, and the two third connecting sides have no common endpoints with the third edge. The fourth dihedral angle has two fourth connecting sides symmetric about the fourth edge, and the two fourth connecting sides have no common endpoints with the fourth edge;

[0020] After the left-handed folding unit is extended, a fifth dihedral angle, a sixth dihedral angle, a seventh dihedral angle, and an eighth dihedral angle are formed. The fifth edge of the fifth dihedral angle, the sixth edge of the sixth dihedral angle, the seventh edge of the seventh dihedral angle, and the eighth edge of the eighth dihedral angle intersect. The fifth dihedral angle, the sixth dihedral angle, the seventh dihedral angle, and the eighth dihedral angle surround the intersection point of the fifth edge, the sixth edge, the seventh edge, and the eighth edge. The fifth dihedral angle has two fifth connecting side edges that are symmetric about the fifth edge, and the two fifth connecting side edges have no common endpoints with the fifth edge. The sixth dihedral angle has two sixth connecting side edges that are symmetric about the sixth edge, and the two sixth connecting side edges have no common endpoints with the sixth edge. The seventh dihedral angle has two seventh connecting side edges that are symmetric about the seventh edge, and the two seventh connecting side edges have no common endpoints with the seventh edge. The eighth dihedral angle has two eighth connecting side edges that are symmetric about the eighth edge, and the two eighth connecting side edges have no common endpoints with the eighth edge;

[0021] A right-handed folding unit is connected to two fifth connecting side edges, two sixth connecting side edges, two seventh connecting side edges, or two eighth connecting side edges of a left-handed folding unit through two first connecting side edges, two second connecting side edges, two third connecting side edges, or two fourth connecting side edges respectively;

[0022] A right-handed folding unit is connected to two third connecting side edges, two fourth connecting side edges, two first connecting side edges, or two second connecting side edges of another right-handed folding unit through two first connecting side edges, two second connecting side edges, two third connecting side edges, or two fourth connecting side edges respectively;

[0023] A left-handed folding unit is connected to two seventh connecting side edges, two eighth connecting side edges, two fifth connecting side edges, or two sixth connecting side edges of another left-handed folding unit through two fifth connecting side edges, two sixth connecting side edges, two seventh connecting side edges, or two eighth connecting side edges respectively.

[0024] According to the folding mechanism of the embodiment of the present invention, the folding mechanism further includes a connecting piece;

[0025] In a right-handed folding unit and a left-handed folding unit that are connected to each other, two connecting pieces are respectively arranged on two first connecting side edges, two second connecting side edges, two third connecting side edges, or two fourth connecting side edges of a right-handed folding unit. The two connecting pieces are used to be connected to the sides where two fifth connecting side edges, two sixth connecting side edges, two seventh connecting side edges, or two eighth connecting side edges of a left-handed folding unit are located respectively. Or, two connecting pieces are respectively arranged on two fifth connecting side edges, two sixth connecting side edges, two seventh connecting side edges, or two eighth connecting side edges of a left-handed folding unit. The two connecting pieces are used to be connected to the sides where two first connecting side edges, two second connecting side edges, two third connecting side edges, or two fourth connecting side edges of a right-handed folding unit are located respectively;

[0026] In two right-handed folding and unfolding units connected to each other, two connecting pieces are respectively arranged on two first connecting sides, two second connecting sides, two third connecting sides or two fourth connecting sides of one right-handed folding and unfolding unit, and the two connecting pieces are respectively used for connecting with the sides where two third connecting sides, two fourth connecting sides, two first connecting sides or two second connecting sides of the other right-handed folding and unfolding unit are located;

[0027] In two left-handed folding and unfolding units connected to each other, two connecting pieces are respectively arranged on two fifth connecting sides, two sixth connecting sides, two seventh connecting sides or two eighth connecting sides of one left-handed folding and unfolding unit, and the two connecting pieces are respectively used for connecting with the sides where two seventh connecting sides, two eighth connecting sides, two fifth connecting sides or two sixth connecting sides of the other left-handed folding and unfolding unit are located.

[0028] In a third aspect, an embodiment of the present invention provides a folding and unfolding device, which includes a driving mechanism and the folding and unfolding mechanism as described above. The driving mechanism is connected to the folding and unfolding mechanism, and the driving mechanism is used to drive the folding and unfolding mechanism to extend or fold.

[0029] For the folding and unfolding device according to the embodiment of the present invention, the output end of at least one driving mechanism is connected to one side of the mountain fold of a regular N-sided polygon piece at the end of the folding and unfolding mechanism, and the other side of the mountain fold of a regular N-sided polygon piece at the end of the folding and unfolding mechanism is fixed; or,

[0030] The output end of at least one driving mechanism is connected to one side of the mountain fold of a regular N-sided polygon piece at the end of the folding and unfolding mechanism, and at least another driving mechanism is connected to the other side of the mountain fold of a regular N-sided polygon piece at the end of the folding and unfolding mechanism.

[0031] The additional aspects and advantages of the present invention will be partially given in the following description, partially become obvious from the following description, or be understood through the practice of the present invention. Description of the Drawings

[0032] The following further describes the present invention in conjunction with the drawings and embodiments, where:

[0033] Figure 1 is a schematic diagram of the state after the folding and unfolding unit according to the embodiment of the present invention is extended;

[0034] Figure 2 is a schematic diagram of the state after the folding and unfolding unit according to the embodiment of the present invention is folded;

[0035] Figure 3 is a schematic diagram of the folding and unfolding unit according to the embodiment of the present invention after being laid flat;

[0036] Figure 4Schematic side view of the folding and unfolding unit according to an embodiment of the present invention;

[0037] Figure 5 Schematic diagram showing the right-handed folding and unfolding units of the folding and unfolding mechanism according to an embodiment of the present invention connected to form a right-handed module;

[0038] Figure 6 Schematic diagram showing the left-handed folding and unfolding units of the folding and unfolding mechanism according to an embodiment of the present invention connected to form a left-handed module;

[0039] Figure 7 Schematic diagram of the state of the right-handed folding and unfolding unit after extension according to an embodiment of the present invention;

[0040] Figure 8 Schematic diagram of the state of the left-handed folding and unfolding unit after extension according to an embodiment of the present invention;

[0041] Figure 9 Schematic diagram of the right-handed folding and unfolding unit after being laid out according to an embodiment of the present invention;

[0042] Figure 10 Schematic diagram of the left-handed folding and unfolding unit after being laid out according to an embodiment of the present invention. Detailed implementation manners

[0043] The embodiments of the present invention will be described in detail below. The examples of the embodiments are shown in the drawings, where the same or similar reference numerals denote the same or similar elements or elements having the same or similar functions throughout. The embodiments described below by referring to the drawings are exemplary and are only used to explain the present invention and should not be construed as a limitation to the present invention.

[0044] In the description of the present invention, it should be understood that the orientation or positional relationship indicated by terms such as up, down, front, back, left, right, etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation to the present invention.

[0045] In the description of the present invention, the meaning of several is more than one, the meaning of multiple is more than two, greater than, less than, exceeding, etc. are understood as not including the present number, and above, below, within, etc. are understood as including the present number. If the first and second are described only for the purpose of distinguishing technical features, they should not be construed as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features or the sequence relationship of the indicated technical features.

[0046] In the description of the present invention, unless otherwise clearly defined, terms such as "arrangement", "installation", "connection", etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific content of the technical solution.

[0047] In the description of the present invention, the description with reference to terms such as "one embodiment", "some embodiments", "schematic embodiments", "examples", "specific examples", or "some examples", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0048] As Figures 1 to 3 shown, Figure 1 FIG. is a schematic diagram of the state after the deployment unit 10 is deployed, Figure 2 FIG. is a schematic diagram of the state after the deployment unit 10 is folded, Figure 3 FIG. is a schematic diagram of the deployment unit 10 after being flattened. The present invention provides a deployment unit 10 that can be folded or deployed.

[0049] As Figure 3 shown, the deployment unit 10 includes a substrate 11. The substrate 11 includes four regular N-sided polygon sheets 111. The four regular N-sided polygon sheets 111 are connected in sequence. One side of each of the adjacent two regular N-sided polygon sheets 111 is connected, and a valley crease S1 is formed at the connection of the adjacent two regular N-sided polygon sheets 111. Each regular N-sided polygon sheet 111 has a central axis S2 and a mountain crease S3. The included angle between the central axis S2 and the mountain crease S3 is equal to the inscribed angle of the regular N-sided polygon sheet 111. One side common to the central axis S2 and the mountain crease S3 defines an overlapping area C, and the other side common to the central axis S2 and the mountain crease S3 defines another overlapping area C. Moreover, one of the overlapping areas C of each of the adjacent two regular N-sided polygon sheets 111 is connected to the valley crease S1 and is symmetric about the valley crease S1. The two overlapping areas C connected to the same valley crease S1 correspond. One of the overlapping areas C of the first regular N-sided polygon sheet 111 that is far from the valley crease S1 and one of the overlapping areas C of the last regular N-sided polygon sheet 111 that is far from the valley crease S1 correspond. The corresponding two overlapping areas C overlap and are fixed.

[0050] Wherein, N≥4. When N is an even number, the central axis S2 is the connection line of the two opposite vertices of the regular N-sided polygon sheet 111. When N is an odd number, the central axis S2 is the connection line of a vertex of the regular N-sided polygon sheet 111 and the center point of the side line opposite to the vertex.

[0051] In an embodiment of the present invention, by folding the mountain crease S3 inward, folding the valley crease S1 outward, and overlapping and fixing two corresponding overlapping regions C, a deployable unit 10 with deployable function can be formed. When in use, by controlling the angle between two planes on both sides of the mountain crease S3 of a regular N-sided polygon piece 111 at the head end or the tail end, the deployable unit 10 can be folded or extended. That is to say, the folding degree or the extension degree of the deployable unit 10 changes with the change of the angle between the two planes. In this way, the controllability of the deployable unit 10 is relatively high, accurate control of the deployable unit 10 can be achieved, it has relatively high reliability, simple operation, large deployment ratio, and low cost.

[0052] Specifically, the two limit values of the angle between the two planes are 180° and 0° respectively. As Figure 2 shown, when the angle between the two planes is 180°, the two planes are coplanar. At this time, the deployable unit 10 is completely folded to form a planar structure of a regular N-sided polygon piece 111; when the angle between the two planes is 0°, the two planes are in contact with each other. At this time, the deployable unit 10 is completely extended to form another regular N-sided polygon piece 111 structure. Among them, the regular N-sided polygon piece 111 structure of the deployable unit 10 with an angle of 0° is perpendicular to the regular N-sided polygon piece 111 structure of the deployable unit 10 with an angle of 180°. As Figure 1 shown, when the angle between the two planes is greater than 0° and less than 180°, the deployable unit 10 extends to form a three-dimensional structure.

[0053] Taking the regular N-sided polygon piece 111 as a regular hexagon as an example for illustration, the central axis S2 is the connection line between two opposite vertices of the regular hexagon, and is shown by a single dotted line in Figure 3 ; the mountain crease S3 is the connection line forming an angle of 60° (the central angle of a regular hexagon is 60°) with the central axis S2, and is shown by a double dotted line in Figure 3 ; the valley crease S1 is the side connecting two adjacent regular hexagons, and is shown by a dotted line in Figure 3 . An overlapping region C defined on one side common to the central axis S2 and the mountain crease S3, and another overlapping region C defined on the other side common to the central axis S2 and the mountain crease S3 are both quadrilateral.

[0054] In Figure 3In the figure, the substrate 11 has four peak folds S3, three valley folds S1 and eight overlapping regions C. For the convenience of explanation, the four peak folds S3 are referred to as the first peak fold, the second peak fold, the third peak fold and the fourth peak fold from left to right, the three valley folds are referred to as the first valley fold, the second valley fold and the third valley fold from left to right, and the eight overlapping regions are referred to as the first overlapping region, the second overlapping region, the third overlapping region, the fourth overlapping region, the fifth overlapping region, the sixth overlapping region, the seventh overlapping region and the eighth overlapping region from left to right. Among them, the second overlapping region and the third overlapping region are respectively connected to the first valley fold and are symmetrical about the first valley fold; the fourth overlapping region and the fifth overlapping region are respectively connected to the second valley fold and are symmetrical about the second valley fold; the sixth overlapping region and the seventh overlapping region are respectively connected to the third valley fold and are symmetrical about the third valley fold.

[0055] Taking the regular N-gon sheet 111 as a regular hexagon as an example, the process of folding the base sheet 11 to form the folding unit 10 with the folding function is exemplarily described: the first step is to fold the third valley fold inward (at Figure 3 At the same time, overlap and fix the sixth overlapping area and the seventh overlapping area; the second step is to fold the fourth peak crease outward (in the Figure 3 The third step is to fold the second valley crease inwards, and at the same time, overlap and fix the fourth overlapping area and the fifth overlapping area; the fourth step is to fold the second peak crease outwards; the fourth step is to fold the first valley crease inwards, and at the same time, overlap and fix the second overlapping area and the third overlapping area. At this point, the base sheet can be folded to form a folding unit with folding and unfolding function.

[0056] like Figure 4 As shown, in some embodiments, the folding and unfolding unit 10 further includes a supporting sheet 12 , and both sides of the peak fold S3 in each regular N-gonal sheet 111 are respectively connected with a supporting sheet 12 , and the supporting sheet 12 is used to support the regular N-gonal sheet 111 .

[0057] In this embodiment, by arranging support sheets 12 on both sides of the peak fold S3 in each regular N-gon sheet 111, each part of the folding unit 10 (i.e., the position where each support sheet 12 is located) has a higher rigidity strength, thereby improving the load-bearing performance of the folding unit 10, so that the folding unit 10 can be applied to functional structures that need to withstand large loads and high rigidity, such as construction machinery, robot joints, etc.

[0058] In addition, by arranging the support sheet 12 on both sides of the peak fold S3, it is possible to avoid interference with the folding at the peak fold S3 caused by the support sheet 12 covering the peak fold S3.

[0059] Among them, the substrate 11 can be a flexible structure, which is mainly used to connect the support sheets 12. The support sheets 12 can be structures with a certain stiffness and are mainly used for bearing and receiving forces.

[0060] In some embodiments, the substrate 11 can be a polyimide tape, and the support sheet 12 can be a carbon fiber sheet. Of course, the substrate 11 can also be other structures with a connecting function, such as a plastic sheet, and the support sheet 12 can also be other structures with a supporting function, such as a steel sheet. The present invention does not limit the specific materials of the substrate 11 and the support sheet 12.

[0061] In some other embodiments, the substrate 11 can also be a structure with a certain rigid strength, and each valley fold S1 and each peak fold S3 in the substrate 11 can be folded so that the substrate 11 itself can form a deployable unit 10 with deployable function.

[0062] In some embodiments, the shape of the support sheet 12 is half of the shape of a regular N-sided polygon sheet 111, that is, the shape of one support sheet 12 is the same as the shape on one side of the peak fold S3 of the regular N-sided polygon sheet 111. In this way, the two support sheets 12 can just cover the regular N-sided polygon sheet 111 on both sides of the peak fold S3 respectively.

[0063] In some embodiments, support sheets 12 are provided on both opposite sides of each regular N-sided polygon sheet 111, that is, a total of sixteen support sheets 12 are required to cover both opposite sides of each regular N-sided polygon sheet 111. In this way, it can be ensured that the overall deployable unit 10 has a relatively high rigid strength and load-bearing performance.

[0064] In some embodiments, the deployable unit 10 further includes a first connection structure 13. Each support sheet 12 is connected to the first connection structure 13. The first connection structure 13 is located between the regular N-sided polygon sheet 111 and the support sheet 12. The first connection structure 13 is used to connect the regular N-sided polygon sheet 111 and the support sheet 12 so that the support sheet 12 is fixed on the regular N-sided polygon sheet 111, thereby ensuring the stable connection between the support sheet 12 and the regular N-sided polygon sheet and preventing the support sheet 12 from falling off the substrate 11 during use.

[0065] Among them, the first connection structure 13 can be a structure with an adhesive function to bond and fix the regular N-sided polygon sheet 111 and the support sheet 12.

[0066] In some embodiments, the first connection structure 13 can be a first hot melt adhesive. After the regular N-sided polygon sheet 111, the first hot melt adhesive, and the support sheet 12 are stacked in sequence, they are fixed to each other by heating and pressing. Of course, the first connection structure 13 can also be other structures with an adhesive function, such as glue. The present invention does not limit the material of the first connection structure 13.

[0067] In some embodiments, the shape of the first connection structure 13 is the same as that of the support sheet 12. In this way, the entire support sheet 12 can be fixed to the regular N-sided sheet 111 through the first connection structure 13.

[0068] In some embodiments, the folding and unfolding unit 10 further includes a second connection structure 14. At least one of the corresponding two overlapping regions C is connected with the second connection structure 14, and the corresponding two overlapping regions C are fixed in contact with each other through the second connection structure 14.

[0069] In some embodiments, the shape of the second connection structure 14 is the same as that of the overlapping region C. The second connection structure 14 is connected to the side of the support sheet 12 facing away from the overlapping region C. That is, in the projection plane of the base sheet 11, the projections of the overlapping region C and the second connection structure 14 overlap. In this way, when the corresponding two overlapping regions C are fixed through the corresponding second connection structures 14, they can just overlap.

[0070] Among them, the second connection structure 14 can be a structure with an adhesive function to fix the corresponding two overlapping regions C.

[0071] In some embodiments, the second connection structure 14 can be a second hot melt adhesive. After the regular N-sided sheet 111, the first hot melt adhesive, the support sheet 12, and the second hot melt adhesive are stacked in sequence, they are fixed to each other through heating and pressing. Of course, the second connection structure 14 can also be other structures with an adhesive function, such as glue. The present invention does not limit the material of the second connection structure 14.

[0072] Taking the regular N-sided polygon sheet 111 as a regular hexagon as an example, the manufacturing process of the folding and unfolding unit 10 will be exemplarily described: First step, prepare a polyimide tape (formed by sequentially connecting four regular hexagon sheets), sixteen carbon fiber sheets (the shape of the carbon fiber sheet is half of the regular hexagon sheet, that is, the carbon fiber sheet is an isosceles trapezoid), sixteen first hot pressing adhesives (the shape of the first hot pressing adhesive is the same as the shape of the support sheet, that is, the first hot pressing adhesive is an isosceles trapezoid), and four second hot pressing adhesives (the shape of the second hot pressing adhesive is the same as the shape of the overlapping area in the shape of a quadrangular prism, that is, the second hot pressing adhesive is in the shape of a quadrangular prism); Second step, respectively attach the sixteen first hot pressing adhesives to the sixteen connection areas of the polyimide tape (both opposite sides of each regular hexagon sheet have two connection areas, and the two connection areas are respectively located on both sides of the peak crease of the regular hexagon sheet, that is, the connection area is an isosceles trapezoid); Third step, respectively attach the sixteen carbon fiber sheets to the surfaces of the sixteen first hot pressing adhesives facing away from the regular hexagon sheet; Fourth step, respectively attach the four second hot pressing adhesives to the surfaces of the corresponding four carbon fiber sheets facing away from the overlapping area (the four regular hexagon sheets have four pairs of overlapping areas, and each pair of overlapping areas is the corresponding two overlapping areas described above, and these four carbon fiber sheets respectively correspond to one of each pair of overlapping areas), thus, making the folding and unfolding unit form a sandwich structure; Fifth step, use a hot press to heat and press the sandwich structure; Sixth step, after folding the sandwich structure, a folding and unfolding unit with folding and unfolding functions is obtained (for the specific folding process, refer to the folding process of the substrate in the previous text, which will not be elaborated here).

[0073] As Figure 5 and Figure 6 As shown, the embodiment of the present invention also provides a folding and unfolding mechanism 100. The folding and unfolding mechanism 100 includes the above-mentioned folding and unfolding unit 10. The number of folding and unfolding units 10 is at least two, and at least two folding and unfolding units 10 are sequentially connected, and at least two folding and unfolding units 10 can be stretched or folded together.

[0074] In the embodiment of the present invention, by sequentially connecting at least two folding and unfolding units 10 to form the folding and unfolding mechanism 100, by controlling the angle between the two planes on both sides of the peak crease S3 of a regular N-sided polygon sheet 111 at the head or the end, the folding and unfolding mechanism 100 can be folded or stretched, so that the controllability of the folding and unfolding mechanism 100 is relatively high, the folding and unfolding mechanism 100 can be precisely controlled, its reliability is relatively high, the operation is simple, and the folding and unfolding ratio is large, and the cost is relatively low.

[0075] As Figure 7 and Figure 10As shown, in some embodiments, at least one of the at least two folding units 10 is a right-handed folding unit 10R, and at least one is a left-handed folding unit 10L. The right-handed folding unit 10R and the left-handed folding unit 10L are connected to form a left-right hybrid module. Or at least two folding units 10 are both right-handed folding units 10R, and the right-handed folding units 10R are connected to form a right-handed module 100R. Or at least two folding units 10 are both left-handed folding units 10L, and the left-handed folding units 10L are connected to form a left-handed module 100L.

[0076] Among them, each peak crease S3 of the right-handed folding unit 10R is formed by rotating the inner angle of the regular N-sided polygon piece 111 counterclockwise around the corresponding central axis S2, and each peak crease S3 of the left-handed folding unit 10L is formed by rotating the inner angle of the regular N-sided polygon piece 111 clockwise around the corresponding central axis S2.

[0077] As Figures 7 to 10 shown, Figure 7 is a schematic diagram of the state after the right-handed folding unit 10R is extended, Figure 8 is a schematic diagram of the state after the left-handed folding unit 10L is extended, Figure 9 is a schematic diagram after the right-handed folding unit 10R is unfolded, Figure 10 is a schematic diagram after the left-handed folding unit 10L is unfolded.

[0078] After the right-handed folding unit 10R is extended, a first dihedral angle, a second dihedral angle, a third dihedral angle, and a fourth dihedral angle are formed. The first edge A R1 -A R7 of the first dihedral angle, the second edge A RO -A R6 of the second dihedral angle, the third edge A R3 -A R5 of the third dihedral angle, and the fourth edge A R2 -A R4 of the fourth dihedral angle intersect. The first dihedral angle, the second dihedral angle, the third dihedral angle, and the fourth dihedral angle surround the intersection point O1 of the first edge A R1 -A R7 , the second edge A RO -A R6 , the third edge A R3 -A R5 , and the fourth edge A R2 -A R4 . The first dihedral angle has two first connecting side edges (A R1 -A R7 ) that are symmetric about the first edge A R0 -P R0 , P R1 -P R4), and the two first connecting sides (A R0 -P R0 , P R1 -P R4 ) and the first edge A R1 -A R7 have no common endpoints. The second dihedral angle has two second connecting sides (A RO -A R6 ) that are symmetric about the second edge A R3 -P R3 , P R0 -A R7 ), and the two second connecting sides (A R3 -P R3 , P R0 -A R7 ) and the second edge A RO -A R6 have no common endpoints. The third dihedral angle has two third connecting sides (P R3 -A R5 , A R3 -P R6 ), and the two third connecting sides (P R2 -A R2 , A R3 -A R6 , A R2 -P R2 ) and the third edge A R3 -A R5 have no common endpoints. The fourth dihedral angle has two fourth connecting sides (P R2 -A R4 , A R2 -A R5 , A R1 -P R1 ), and the two fourth connecting sides (P R2 -A R5 , A R1 -P R1 ) and the fourth edge A R2 -A R4 have no common endpoints.

[0079] After the left-handed folding and unfolding unit 10L is extended, it forms a fifth dihedral angle, a sixth dihedral angle, a seventh dihedral angle, and an eighth dihedral angle. The fifth edge A L3 -A L5 of the fifth dihedral angle, the sixth edge A L0 -A L6 of the sixth dihedral angle, the seventh edge A L1 -A L7 of the seventh dihedral angle, and the eighth edge A L2 -A L4intersect. The fifth dihedral angle, the sixth dihedral angle, the seventh dihedral angle, and the eighth dihedral angle surround the fifth edge A L3 -A L5 , the sixth edge A L0 -A L6 , the seventh edge A L1 -A L7 and the eighth edge A L2 -A L4 at the intersection point O2. The fifth dihedral angle has two fifth connecting side edges (P L3 -A L5 , A L3 -A L4 , A L0 -P L0 ) that are symmetric about the fifth edge A L3 -A L4 , A L0 -P L0 ), and the two fifth connecting side edges (P L3 -A L5 ) and the fifth edge A L0 -A L6 have no common endpoints. The sixth dihedral angle has two sixth connecting side edges (P L0 -A L5 , A L1 -P L1 ) that are symmetric about the sixth edge A L0 -A L5 , A L1 -P L1 ), and the two sixth connecting side edges (P L0 -A L6 ) and the sixth edge A L1 -A L7 have no common endpoints. The seventh dihedral angle has two seventh connecting side edges (P L1 -A L6 , A L2 -P L2 ) that are symmetric about the seventh edge A L1 -A L6 , A L2 -P L2 ), and the two seventh connecting side edges (P L1 -A L7 ) and the seventh edge A L2 -A L4 have no common endpoints. The eighth dihedral angle has two eighth connecting side edges (P L2 -A L7 , A L3 -P L3 ), and the two eighth connecting side edges (P L2 -A L7 , A L3-P L3 ) and the eighth edge A L2 -A L4 No public endpoints.

[0080] A right-hand folding unit 10R is connected by two first connecting sides (A R0 -P R0 , P R1 -P R4 ), two second connecting sides (A R3 -P R3 , P R0 -A R7 ), two third connecting sides (P R3 -A R6 , A R2 -P R2 ) or two fourth connecting sides (P R2 -A R5 , A R1 -P R1 ), respectively connected to the two fifth connecting sides (P L3 -A L4 , A L0 -P L0 ), two sixth connecting sides (P L0 -A L5 , A L1 -P L1 ), two seventh connecting sides (P L1 -A L6 , A L2 -P L2 ) or two eighth connecting sides (P L2 -A L7 , A L3 -P L3 In this way, the connection between the right-handed folding and unfolding unit 10R and the left-handed folding and unfolding unit 10L can be achieved.

[0081] A right-hand folding unit 10R is connected by two first connecting sides (A R0 -P R0 , P R1 -P R4 ), two second connecting sides (A R3 -P R3 , P R0 -A R7 ), two third connecting sides (P R3 -A R6 , A R2 -P R2 ) or two fourth connecting sides (P R2 -A R5 , AR1 -P R1 ) are respectively connected to two third connection sides (P R3 -A R6 , A R2 -P R2 ) of another right-handed folding unit 10R, two fourth connection sides (P R2 -A R5 , A R1 -P R1 ) of another right-handed folding unit 10R, two first connection sides (A R0 -P R0 , P R1 -P R4 ) of another right-handed folding unit 10R or two second connection sides (A R3 -P R3 , P R0 -A R7 ) of another right-handed folding unit 10R. In this way, the connection between the right-handed folding unit 10R and the right-handed folding unit 10R can be realized.

[0082] A left-handed folding unit 10L is connected through two fifth connection sides (P L3 -A L4 , A L0 -P L0 ), two sixth connection sides (P L0 -A L5 , A L1 -P L1 ), two seventh connection sides (P L1 -A L6 , A L2 -P L2 ) or two eighth connection sides (P L2 -A L7 , A L3 -P L3 ) to two seventh connection sides (P L1 -A L6 , A L2 -P L2 ), two eighth connection sides (P L2 -A L7 , A L3 -P L3 ), two fifth connection sides (P L3 -A L4 , A L0 -P L0 ) or two sixth connection sides (P L0 -A L5 , A L1 -P L1) Connection. In this way, the connection between the left-handed folding unit 10L and the left-handed folding unit 10L can be achieved.

[0083] It should be noted that the labels of the first edge to the eighth edge, and the first connecting side to the eighth connecting side above are marked with a regular N-sided sheet 111 as a regular hexagon sheet. In a regular hexagon sheet, there is only one pair of connecting sides that are symmetric about an edge and have no common endpoints with that edge. In other regular polygon sheets, there may be one pair or more than two pairs of connecting sides that are symmetric about an edge and have no common endpoints with that edge. For example, in a regular octagon sheet, there are two pairs of connecting sides that are symmetric about an edge and have no common endpoints with that edge. When the number of connecting sides is more than two pairs, any one pair of connecting sides can be selected to connect with the corresponding pair of connecting sides in other units.

[0084] Among them, during the extension process of the right-handed folding unit 10R, the first edge A R1 -A R7 , the second edge A RO -A R6 , the third edge A R3 -A R5 and the fourth edge A R2 -A R4 can perform a right-handed helical motion around O1, enabling the right-handed folding unit 10R to have helical motion characteristics and high flexibility; during the extension process of the left-handed folding unit 10L, the fifth edge A L3 -A L5 , the sixth edge A L0 -A L6 , the seventh edge A L1 -A L7 and the eighth edge A L2 -A L4 can perform a left-handed helical motion around O2, enabling the left-handed folding unit 10L to have helical motion characteristics and high flexibility.

[0085] Among them, when the four connecting side edges for connection in two adjacent folding and unfolding units 10 (whether it is the right-handed folding and unfolding unit 10R and the right-handed folding and unfolding unit 10R, or the left-handed folding and unfolding unit 10L and the left-handed folding and unfolding unit 10L, or the right-handed folding and unfolding unit 10R and the left-handed folding and unfolding unit 10L) are parallel to each other: the right-handed module 100R extends in a straight line during extension and performs a right-handed spiral motion around this straight line; the left-handed module 100L extends in a straight line during extension and performs a left-handed spiral motion around this straight line; the left-right hybrid module extends in a straight line during extension, and the right-handed folding and unfolding unit 10R in it performs a right-handed spiral motion around this straight line, and the left-handed folding and unfolding unit 10 in it performs a left-handed spiral motion around this straight line. Taking the regular N-sided polygon sheet 111 as an example of a regular hexagon sheet, a right-handed folding and unfolding unit 10R is connected to two fifth connecting side edges (P R0 -P R0 , P R1 -P R4 ) of a left-handed folding and unfolding unit 10L respectively through two first connecting side edges (A L3 -A L4 , A L0 -P L0 ). Since the two first connecting side edges (A R0 -P R0 , P R1 -P R4 ) and the two fifth connecting side edges (P L3 -A L4 , A L0 -P L0 ) are parallel to each other, therefore, the left-right hybrid module extends in a straight line during extension.

[0086] When four connecting side edges for connection in two adjacent folding and unfolding units 10 (whether it is two right-handed folding and unfolding units 10R, or two left-handed folding and unfolding units 10L, or a right-handed folding and unfolding unit 10R and a left-handed folding and unfolding unit 10L) have intersections: The right-handed module 100R extends in a curve when unfolding and moves in a right-handed spiral around this curve; the left-handed module 100L extends in a curve when unfolding and moves in a left-handed spiral around this curve; the left-right hybrid module extends in a curve when unfolding, where the right-handed folding and unfolding unit 10R moves in a right-handed spiral around this curve, and the left-handed folding and unfolding unit 10 moves in a left-handed spiral around this curve. Taking the regular N-sided polygon sheet 111 as an example of a regular pentagon sheet, a right-handed folding and unfolding unit 10R is connected to the other two connecting side edges of a left-handed folding and unfolding unit 10L through two connecting side edges respectively. Since these two connecting side edges and the other two connecting side edges have intersections, therefore, the left-right hybrid module extends in a curve when unfolding.

[0087] In this embodiment, through the above settings, the connection between the folding and unfolding units 10 can be realized. In practical applications, different modules (such as a right-handed module, a left-handed module, and a left-right hybrid module) can be formed by selecting different numbers or different rotation directions of the folding and unfolding units 10 for connection, so as to achieve different stretching distances and motion characteristics.

[0088] In some embodiments, the folding and unfolding mechanism 100 further includes a connecting piece 20.

[0089] In a right-handed folding and unfolding unit 10R and a left-handed folding and unfolding unit 10L that are connected to each other, two first connecting side edges (A R0 -P R0 , P R1 -P R4 ), two second connecting side edges (A R3 -P R3 , P R0 -A R7 ), two third connecting side edges (P R3 -A R6 , A R2 -P R2 ) or two fourth connecting side edges (P R2 -A R5 , A R1 -P R1 ) of a right-handed folding and unfolding unit 10R are respectively provided with two connecting pieces 20, and the two connecting pieces 20 are used to be respectively connected to two fifth connecting side edges (P L3 -A L4 , AL0 -P L0 ) and two sixth connecting side edges (P L0 -A L5 , A L1 -P L1 ) and two seventh connecting side edges (P L1 -A L6 , A L2 -P L2 ) or two eighth connecting side edges (P L2 -A L7 , A L3 -P L3 ) are connected to the side where they are located. Or, two fifth connecting side edges (P L3 -A L4 , A L0 -P L0 ) and two sixth connecting side edges (P L0 -A L5 , A L1 -P L1 ) and two seventh connecting side edges (P L1 -A L6 , A L2 -P L2 ) or two eighth connecting side edges (P L2 -A L7 , A L3 -P L3 ) are respectively provided with two connecting pieces 20. The two connecting pieces 20 are used to be respectively connected to two first connecting side edges (A R0 -P R0 , P R1 -P R4 ), two second connecting side edges (A R3 -P R3 , P R0 -A R7 ), two third connecting side edges (P R3 -A R6 , A R2 -P R2 ) or two fourth connecting side edges (P R2 -A R5 , A R1 -P R1 ) of a right-handed folding unit where they are located;

[0090] Among two mutually connected right-handed folding units 10R, two first connecting side edges (A R0 -P R0 , P R1 -P R4 ) and two second connecting side edges (AR3 -P R3 ,P R0 -A R7 )、 two third connecting sides (P R3 -A R6 ,A R2 -P R2 ) or two fourth connecting sides (P R2 -A R5 ,A R1 -P R1 ) are respectively provided with two connecting pieces 20, and the two connecting pieces 20 are used to respectively connect with the two third connecting sides (P R3 -A R6 ,A R2 -P R2 )、 two fourth connecting sides (P R2 -A R5 ,A R1 -P R1 )、 two first connecting sides (A R0 -P R0 ,P R1 -P R4 ) or two second connecting sides (A R3 -P R3 ,P R0 -A R7 ) on the side where they are located;

[0091] In two left-handed folding units 10L that are connected to each other, the two fifth connecting sides (P L3 -A L4 ,A L0 -P L0 )、 two sixth connecting sides (P L0 -A L5 ,A L1 -P L1 )、 two seventh connecting sides (P L1 -A L6 ,A L2 -P L2 ) or two eighth connecting sides (P L2 -A L7 ,A L3 -P L3 ) are respectively provided with two connecting pieces 20, and the two connecting pieces 20 are used to respectively connect with the two seventh connecting sides (P L1 -A L6 ,A L2 -P L2 )、 two eighth connecting sides (P L2 -AL7 , A L3 -P L3 ), and two fifth connecting sides (P L3 -A L4 , A L0 -P L0 ) or two sixth connecting sides (P L0 -A L5 , A L1 -P L1 ) are connected to the side where they are located.

[0092] In this embodiment, by providing the connecting piece 20, the connection area between different folding and unfolding units 10 can be increased, thereby improving the connection strength between different folding and unfolding units 10 and ensuring the structural stability of the folding and unfolding mechanism 100.

[0093] In the specific implementation process, the connecting side of the connecting piece 20 and the connecting piece 20 are of an integral structure.

[0094] Among them, the shape of the connecting piece 20 can be the same as the shape of the overlapping area C.

[0095] The embodiment of the present invention also provides a folding and unfolding device, including a driving mechanism and the above-mentioned folding and unfolding mechanism 100. The driving mechanism is connected to the folding and unfolding mechanism 100, and the driving mechanism is used to drive the folding and unfolding mechanism 100 to extend or fold.

[0096] In some embodiments, the output end of at least one driving mechanism is connected to one side of the mountain fold S3 of a regular N-sided polygon piece 111 at the end of the folding and unfolding mechanism 100, and the other side of the mountain fold S3 of a regular N-sided polygon piece 111 at the end of the folding and unfolding mechanism 100 is fixed.

[0097] Alternatively, the output end of at least one driving mechanism is connected to one side of the mountain fold S3 of a regular N-sided polygon piece 111 at the end of the folding and unfolding mechanism 100, and at least one other driving mechanism is connected to the other side of the mountain fold S3 of a regular N-sided polygon piece 111 at the end of the folding and unfolding mechanism 100.

[0098] In the embodiment of the present invention, by controlling the angle between the two planes on both sides of the mountain fold S3 of a regular N-sided polygon piece 111 at the end, the folding and unfolding mechanism 100 can be folded or extended, enabling precise control of the folding and unfolding mechanism 100, with high reliability, simple operation, large folding and unfolding ratio, and low cost.

[0099] Within the scope of knowledge possessed by those of ordinary skill in the art to which the present invention pertains, various changes can also be made without departing from the gist of the present invention. In addition, without conflict, the embodiments of the present invention and the features in the embodiments can be combined with each other.

Claims

1. A deployable unit, characterized in that, It includes a substrate, the substrate includes four regular N-sided polygon sheets, the four regular N-sided polygon sheets are connected in sequence, one side of each of the adjacent two regular N-sided polygon sheets is connected, and a valley fold is formed at the connection of the adjacent two regular N-sided polygons. Each regular N-sided polygon sheet has a central axis and a peak fold. The included angle between the central axis and the peak fold is equal to the inner angle of the regular N-sided polygon sheet. One side where the central axis and the peak fold are common defines an overlapping area, and the other side where the central axis and the peak fold are common defines another overlapping area. And one of the overlapping areas of each of the adjacent two regular N-sided polygon sheets is connected to the valley fold and is symmetric about the valley fold. The two overlapping areas connected to the same valley fold correspond to each other. One overlapping area away from the valley fold in the first regular N-sided polygon sheet at the head end and one overlapping area away from the valley fold in the last regular N-sided polygon sheet at the tail end correspond to each other. The two corresponding overlapping areas are bonded and fixed; wherein, N≥4. When N is an even number, the central axis is the connection line of the two opposite vertices of the regular N-sided polygon sheet. When N is an odd number, the central axis is the connection line of a vertex of the regular N-sided polygon and the center point of the side line opposite to the vertex.

2. The deployable unit according to claim 1, wherein, The folding and unfolding unit further includes support sheets, and the support sheets are respectively connected to both sides of the peak fold in each regular N-sided polygon sheet.

3. The folding and unfolding unit according to claim 2, characterized in that, The shape of the support sheet is half of the shape of the regular N-sided polygon sheet, and the support sheets are arranged on the opposite two sides of each regular N-sided polygon sheet.

4. The folding and unfolding unit according to claim 2, characterized in that, The folding and unfolding unit further includes a first connection structure, and each support sheet is connected to the first connection structure. The first connection structure is located between the regular N-sided polygon sheet and the support sheet, and the first connection structure is used to connect the regular N-sided polygon sheet and the support sheet.

5. The deployable unit according to claim 1, wherein The folding and unfolding unit further includes a second connection structure, and at least one of the two corresponding overlapping areas is connected to the second connection structure. The two corresponding overlapping areas are bonded and fixed through the second connection structure.

6. A folding and unfolding mechanism, characterized in that, It includes the folding and unfolding unit according to any one of claims 1 to 5; The number of the folding and unfolding units is at least two, and at least two folding and unfolding units are connected in sequence, and at least two folding and unfolding units can be stretched or folded together.

7. The folding and unfolding mechanism according to claim 6, wherein At least one of the at least two folding and unfolding units is a right-handed folding and unfolding unit, at least one is a left-handed folding and unfolding unit, or all of the at least two folding and unfolding units are right-handed folding and unfolding units, or all of the at least two folding and unfolding units are left-handed folding and unfolding units; wherein, The peak folds of the right-handed folding and unfolding unit are formed by rotating the inner angle of the regular N-sided polygon sheet counterclockwise from the corresponding central axes, and the peak folds of the left-handed folding and unfolding unit are formed by rotating the inner angle of the regular N-sided polygon sheet clockwise from the corresponding central axes; After the right-handed folding and unfolding unit is unfolded, a first dihedral angle, a second dihedral angle, a third dihedral angle, and a fourth dihedral angle are formed. The first edge of the first dihedral angle, the second edge of the second dihedral angle, the third edge of the third dihedral angle, and the fourth edge of the fourth dihedral angle intersect. The first dihedral angle, the second dihedral angle, the third dihedral angle, and the fourth dihedral angle surround the intersection point of the first edge, the second edge, the third edge, and the fourth edge. The first dihedral angle has two first connecting side edges that are symmetric about the first edge, and the two first connecting side edges have no common endpoints with the first edge. The second dihedral angle has two second connecting side edges that are symmetric about the second edge, and the two second connecting side edges have no common endpoints with the second edge. The third dihedral angle has two third connecting side edges that are symmetric about the third edge, and the two third connecting side edges have no common endpoints with the third edge. The fourth dihedral angle has two fourth connecting side edges that are symmetric about the fourth edge, and the two fourth connecting side edges have no common endpoints with the fourth edge; After the left-handed folding and unfolding unit is unfolded, a fifth dihedral angle, a sixth dihedral angle, a seventh dihedral angle, and an eighth dihedral angle are formed. The fifth edge of the fifth dihedral angle, the sixth edge of the sixth dihedral angle, the seventh edge of the seventh dihedral angle, and the eighth edge of the eighth dihedral angle intersect. The fifth dihedral angle, the sixth dihedral angle, the seventh dihedral angle, and the eighth dihedral angle surround the intersection point of the fifth edge, the sixth edge, the seventh edge, and the eighth edge. The fifth dihedral angle has two fifth connecting side edges that are symmetric about the fifth edge, and the two fifth connecting side edges have no common endpoints with the fifth edge. The sixth dihedral angle has two sixth connecting side edges that are symmetric about the sixth edge, and the two sixth connecting side edges have no common endpoints with the sixth edge. The seventh dihedral angle has two seventh connecting side edges that are symmetric about the seventh edge, and the two seventh connecting side edges have no common endpoints with the seventh edge. The eighth dihedral angle has two eighth connecting side edges that are symmetric about the eighth edge, and the two eighth connecting side edges have no common endpoints with the eighth edge; One right-handed folding and unfolding unit is connected to two fifth connecting side edges, two sixth connecting side edges, two seventh connecting side edges, or two eighth connecting side edges of one left-handed folding and unfolding unit through two first connecting side edges, two second connecting side edges, two third connecting side edges, or two fourth connecting side edges respectively; One right-handed folding and unfolding unit is connected to two third connecting side edges, two fourth connecting side edges, two first connecting side edges, or two second connecting side edges of another right-handed folding and unfolding unit through two first connecting side edges, two second connecting side edges, two third connecting side edges, or two fourth connecting side edges respectively; One of the left folding and unfolding units is connected to two of the seventh connecting sides, two of the eighth connecting sides, two of the fifth connecting sides, or two of the sixth connecting sides of another left folding and unfolding unit through two of the fifth connecting sides, two of the sixth connecting sides, two of the seventh connecting sides, or two of the eighth connecting sides respectively.

8. The folding and unfolding mechanism according to claim 7, characterized in that, The folding and unfolding mechanism further includes connecting pieces; In one right folding and unfolding unit and one left folding and unfolding unit that are connected to each other, two connecting pieces are respectively arranged on two of the first connecting sides, two of the second connecting sides, two of the third connecting sides, or two of the fourth connecting sides of one right folding and unfolding unit. The two connecting pieces are used to be respectively connected to the sides where two of the fifth connecting sides, two of the sixth connecting sides, two of the seventh connecting sides, or two of the eighth connecting sides of one left folding and unfolding unit are located. Or, two connecting pieces are respectively arranged on two of the fifth connecting sides, two of the sixth connecting sides, two of the seventh connecting sides, or two of the eighth connecting sides of one left folding and unfolding unit. The two connecting pieces are used to be respectively connected to the sides where two of the first connecting sides, two of the second connecting sides, two of the third connecting sides, or two of the fourth connecting sides of one right folding and unfolding unit are located; In two right folding and unfolding units that are connected to each other, two connecting pieces are respectively arranged on two of the first connecting sides, two of the second connecting sides, two of the third connecting sides, or two of the fourth connecting sides of one right folding and unfolding unit. The two connecting pieces are used to be respectively connected to the sides where two of the third connecting sides, two of the fourth connecting sides, two of the first connecting sides, or two of the second connecting sides of another right folding and unfolding unit are located; In two left folding and unfolding units that are connected to each other, two connecting pieces are respectively arranged on two of the fifth connecting sides, two of the sixth connecting sides, two of the seventh connecting sides, or two of the eighth connecting sides of one left folding and unfolding unit. The two connecting pieces are used to be respectively connected to the sides where two of the seventh connecting sides, two of the eighth connecting sides, two of the fifth connecting sides, or two of the sixth connecting sides of another left folding and unfolding unit are located.

9. A folding and unfolding device, characterized in that, It includes a driving mechanism and the folding and unfolding mechanism according to any one of claims 6 to 8. The driving mechanism is connected to the folding and unfolding mechanism, and the driving mechanism is used to drive the folding and unfolding mechanism to expand or fold.

10. The folding and unfolding device according to claim 9, characterized in that, The output end of at least one driving mechanism is connected to one side of the mountain fold of one regular N-sided polygon piece at the end of the folding and unfolding mechanism, and the other side of the mountain fold of one regular N-sided polygon piece at the end of the folding and unfolding mechanism is fixed; Or, The output end of at least one of the driving mechanisms is connected to one side of the peak crease of one of the regular N-sided sheets at the end of the folding and unfolding mechanism, and at least one other driving mechanism is connected to the other side of the peak crease of one of the regular N-sided sheets at the end of the folding and unfolding mechanism.

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