A foldable mechanism based on the principles of rigid origami

Abstract

The invention relates to a fully foldable and deployable mechanism inspired by the Yoshimura pattern in rigid origami, which can be used for structures such as post-disaster shelters, prefabricated structures, etc.

Description

[0001] DESCRIPTION

[0002] A FOLDABLE MECHANISM BASED ON THE PRINCIPLES OF RIGID ORIGAMI

[0003] Technical Field of The Invention

[0004] The invention relates to a fully foldable and deployable mechanism inspired by the Yoshimura pattern in rigid origami, which can be used for structures such as postdisaster shelters, prefabricated structures, etc. Unlike shell-formed examples found in the literature, the mechanism of the invention independently provides a shelter configuration with fully enclosed surfaces. Furthermore, the mechanism, which features a fully foldable structure, does not undergo deformation after its initial deployment into shelter form, and in contrast to tent examples found in the literature, it retains its mobility.

[0005] State of the Art

[0006] Post-disaster sheltering is one of the most fundamental needs of disaster victims. Efforts to resolve the shelter needs of disaster victims are systematically structured into three stages: emergency relief, rehabilitation, and reconstruction phases [1]. In the emergency relief phase, which covers the first few weeks after the disaster, the need for shelter in the disaster area is met with simpler and faster solutions, while in the reconstruction phase, the permanent housing of disaster victims is completed. The rehabilitation phase which is between these two stages, aims to supply sheltering and the fundamental needs of the disaster victims by establishing temporary housing areas [2], Solutions addressing the shelter needs during the second phase after a disaster are typically implemented by moving the containers used in another disaster area to another area. Although this approach appears as a more cost-effective and faster deployable solution, the shelter units will not be sufficient to meet the needs of disaster victims if the completion of permanent housing is delayed. On the other hand, these shelter units have limitations in meeting the changing spatial needs of families. These units, which are mostly designed for small family use, are also inadequate to meet the spatial needs of larger families or individuals with different age groups and therefore different needs. For this reason, it is essential that the shelter units used in temporary sheltering areas are low-cost, rapidly deployable, and easy to dismantle and transport after fulfilling their function, as well as allowing flexible space design [3].Movement within spaces refers to the use of movable elements and systems designed to enhance spatial functionality, provide flexibility to users, or respond to varying needs [4], The movement of structural elements or parts enables the creation of more flexible and variable spaces [5]. It is anticipated that the kinetic elements, which provide many advantages in the structure, can provide great convenience to disaster victims by installing and adapting the designed post-disaster temporary shelter units in temporary settlement areas. The shelter units created with kinetic architectural elements have the potential to offer solutions to create flexible spaces that can respond to the social needs of disaster victims, in addition to the basic shelter problem.

[0007] Origami applications in structural engineering are a field generally used to develop innovative and sustainable solutions in the design and construction of structures. Origami, inspired by the traditional Japanese art of paper folding, provides substantial potential for the design of polygonal shapes, surfaces, and structural systems. The use of Origami in structural engineering is appearing particularly in areas such as light-weight structures, flexible designs, and space structures. One of the fundamental principles of Origami is the transformation of material into larger surfaces or structures through folding within a limited space. This feature provides the opportunity to design light-weight but durable structural elements. From a structural engineering perspective, this approach not only saves material but also enhances the durability of structures. Origami techniques can make a structure foldable and portable. Such structures are particularly utilized for temporary shelter solutions in disaster areas and space exploration applications. Foldable structures are initially compact and portable, but can rapidly expand and become structurally durable when needed. Folding and bending methods facilitate the construction of more robust and efficient structures using less material.

[0008] In the state of art, a study conducted by Woerd et al. [6] is related to concrete folding technology. They utilized textile-reinforced concrete (a composite material combining a fine-grained cementitious matrix with high-performance carbon or glass textile fabrics) and used the Yoshimura fold as a case study. The Yoshimura origami pattern was first proposed by Yoshimura in 1955, and Yoshimura observed that under axial compression, a thin-walled cylindrical tube develops a distinctive pattern on the tube surface. However, complications were observed during the construction of the structure described in the document, as the number of panels was quite high and the mobility was more than 1. Moreover, although there are taking advantage of the folding principle of Origami, thereferenced structure is not capable of sustaining itself structurally once deployed. Therefore, once the structure reached its final form, the fold gaps were filled with mortar and the structure lost its mobility.

[0009] In the state of art, a study conducted by Jianga et al. [7] describes the material and joint by taking a cross-section of the Yoshimura pattern. The mentioned study focused on the application of the Yoshimura pattern in tunnel structures; however, the 20-panel sample model lacks the capability to serve as a shelter because not all surfaces are closed. However, it can function as a tent.

[0010] The patent application CN114018095A in the state of the art relates to barriers inspired by thick origami, methods for manufacturing these barriers, and methods for the use of these barriers. The mentioned barrier utilizes the Yoshimura pattern, and no deformation occurs between the deployed and retracted states of the barrier. The barrier includes at least one apex where numerous hinges meet. The rigid part and the hinge form a mosaic mechanism that can fulfill some functions, including but not limited to determining one or more degrees of freedom, controlling the folding and unfolding process, storing barrier energy to help expand or contract, or maintaining the barrier in a certain state. Additionally, in typical use of the barrier, the barrier can be stored and transported in a folded state. The barrier may include wheels, straps, and / or handles to facilitate transportation. For instance, the barrier can be carried or pulled like a luggage, or carried on the back like a backpack. When the barrier operator reaches the desired location, the operator can place the barrier on a supporting surface (e.g., the ground or floor) and extend (i.e., unfold) the barrier. In an embodiment, the barrier can be automatically extended using one or more of compressed gas, springs, telescopic rods, or stents. The referenced document provides a solution for how joint areas can be covered when a thickness factor is added to the form. Here, gas springs are used as additional actuators for this form, which has a degree of freedom other than one. Additionally, the transition supports in the lower left and right corners of the barrier restrict internal movement and provide a solution for the form to remain stable after opening.

[0011] The limitations and inadequacies of existing solutions in the state of the art have made it necessary to develop improvements in the relevant technical field for the following reasons: shelter structures are not fully foldable; they lose mobility once deployed into their shelter form; the large number of panels causes complications; their excessivemobility and observable internal movements makes them unsuitable for shelter applications; all panels are in contact with one another, resulting in significant friction; due to these internal movements and multiplicity of mobility, such movable forms in the state of the art require additional components (e.g., actuators or gas springs); and they lack of ability to create a structure on its own.

[0012] Brief Description and Objects of the Invention

[0013] The invention describes a new mechanism inspired by the Yoshimura pattern in rigid origami, which is fully foldable and deployable and can be used for post-disaster shelters, prefabricated structures, etc.

[0014] The object of the invention is to provide a fully foldable shelter construction with all surfaces closed. The degree of freedom of the construction of the invention is 1 , and the mobility is easily controlled.

[0015] An object of the invention is to provide a shelter that does not deform or lose its mobility after the initial deployment. The construction of the invention, which features a fully foldable form, does not deform after its initial deployment and transformation into a shelter, and does not lose its mobility, unlike the tent example referenced in the literature. This allows it to be used many times in different emergencies at different times.

[0016] Another object of the invention is to provide a shelter construction that does not cause challenges during logistics. The new kinematic design in the invention facilitates inward folding of certain panels, thereby reducing the area occupied in the closed form. Thus, it provides significant advantages during logistic phases without the need to disassemble any part of the form.

[0017] Description of the Figures

[0018] Figure 1. (a) Origami Yoshimura fold pattern, (b) A section from the Origami Yoshimura fold pattern

[0019] Figure 2. (a) Illustration of the side panels on the fold section, (b) Illustration of the pattern extended along the x-axisFigure 3. (a) Linear representation of the deployed form, (b) Illustration of the extension of the form’s side panels along the y-axis

[0020] Figure 4. (a) Fully deployed / opened form with thick panels, (b) Fully closed / contracted form with thick panels

[0021] Figure 5. (a) 25% deployed / opened form with thick panels; (b) 75% deployed / opened form with thick panels

[0022] Figure 6. (a) Dimensions of the fully closed / contracted form with thick panels; (b) Dimensions of the fully deployed / opened form with thick panels

[0023] Figure 7. Number and surface area of the parts used in the invention (1 : rectangle, 2: isosceles trapezoid, 3: isosceles right triangle, 4: right trapezoid)

[0024] Figure 8. Representative views of the mechanism of the invention in opened and closed forms from different angles (a: fully closed form, b: fully opened form, c: perspective, d: front, e: side, f: top).

[0025] Detailed Description of the Invention

[0026] The invention relates to a new fully foldable and deployable mechanism inspired by the Yoshimura pattern in rigid origami, which can be used for structures such as postdisaster shelters, prefabricated structures, etc. Unlike shell-formed examples found in the literature, the mechanism of the invention independently provides a shelter configuration with fully enclosed surfaces. Furthermore, the mechanism, which features a fully foldable structure, does not undergo deformation after its initial deployment into shelter form. In contrast to the tent examples found in the literature, it retains its mobility. The physical structure with kinematic compatibility comprises at least two walls, each made up of two or more panels interconnected via hinged joints, and at least one hinge that forms the movable connection points of the panels and enables free rotational motion between the panels to ensure kinematic compatibility. In the embodiment of the invention, the mechanism of the invention comprises 12 rigid panels and 16 rotational hinges. The mechanism can move between the folded state and the deployed state, acting with a single degree of freedom. The structure of the invention comprises at least one roof, said roof being one of the walls. Furthermore, according to the existing environmental conditions and the characteristics of the ground, the structure of the invention comprises at least one additional panel as a base.The fundamental geometry of the invention is based on the Yoshimura pattern in Origami. This pattern, which continues with triangular motifs, is illustrated in a linear form in Figure 1 (a). The diagonal folds, illustrated linearly, will move according to the folding directions referred to as “mountain” and “valley” during the structure’s motion, thereby achieving the desired concrete form. Due to the large number of panels in the Yoshimura pattern shown in Figure 1 (a) and the complications that may arise from the complex form of the module to be made, the number of panels was minimized, and a cross-section was taken as shown in Figure 1 (b). In the invention, at least one of the walls consists of panels arranged and connected in such a way that the wall is folded both by one or more mountain folds and by one or more valley folds.

[0027] In the invention, the panels that will form the side walls were included in the section extracted from the pattern. These panels are highlighted with hatching in Figure 2 (a). In this way, a new kinematic design has been developed that ensures all side and top surfaces of the structure are closed in its installed form. When the mechanism of the new kinematic design put forward at this stage is examined, the form is extended in the x-direction and the point joint is made linear as shown in Figure 2 (b) due to the friction and complications that may occur at the junction of the diagonal lines. This change in the x-axis not only allows the mechanism to work more comfortably, but also provides the advantage of architecturally more habitable dimensions by extending the size of the form. The deployed 3-dimensional structure of form is illustrated in a linear representation in Figure 3 (a). At this stage, due to the triangular panels provided by the Yoshimura pattern, it is observed that the plates covering the top-side surfaces of the form come into direct contact with the ground. This situation causes a decrease in the efficiency of spatial utilization from an architectural perspective. In the invention, to avoid such spatial losses, the side panels have been extended along the Y-axis, as shown in Figure 3 (b). The final installed form of the geometric design, including the necessary thickness and hinge connections, is shown in Figure 4 (a). At the same time, the degrees of freedom of the Yoshimura pattern in Figure 1 (a) are quite high, while the degree of freedom of the shelter form obtained with the new kinematic design (Figure 4 (a)) is 1. The invention does not lose its mobility after installation and can be re-folded into the form as shown in Figure 4 (b). Thereby, it provides an advantage by reducing the space it occupies during the transportation phase. Figures 5 (a) and 5 (b) demonstrate the forms assumed by the form during the transition from the fully closed to the fully opened state.In addition to the geometric design required to make the invention movable and fully foldable, the invention has been developed by taking into account both its suitability for habitation from an architectural perspective and its transportability from a logistical perspective. To serve these purposes, when the form is placed vertically in its closed state on a truck, the height “h” (Figure 4 (b)) must be within dimensions that allow passage under bridges or underpasses. For this reason, during the design phase, the intended form was dimensioned by considering appropriate parameters for spatial needs both in logistical and architectural terms. The dimensions of the invention in its closed, i.e. transported, form are shown in Figure 6 (a), and the technical information such as floor square meters and height in its final form are shown in Figure 6 (b). The technical dimensions of the panels have a rectangular configuration, with a short side of 2 m and a long side of 6 m are used in the invention, 2 panels are used, and each of them has a surface area of 12 m2, an isosceles trapezoidal configuration, a short side of 3 m, a long side of 6 m and a diagonal side of 2.12 m, 4 panels are used, and each of them has surface area of 6.75 m2, an isosceles right triangle configuration, hypotenuse of 3 m, right sides of 2.12 m, and 4 panels are used, and each of them has surface area of 2.25 m2, a right trapezoidal configuration, perpendicular sides of 2 m, 1 .5 m and 0.5 m and diagonal side of 2.12 m, and each of these plates has a surface area of 1.875 m2. The technical specifications of the invention are presented in the table shown in Figure 7. The views of the mechanism in the invention, in both fully deployed / opened and fully closed / contracted form, are listed from different perspectives in Figure 8. The structure of the invention forms a volume with a length of 6 m and a height of 2.6 m in the installed state, with a side height of 2 m and a floor area of 18.6 m2in the installed state. In the folded state, the base length is 6 meters and the height is 3.5 meters.

[0028] Industrial Applicability of the Invention

[0029] The invention relates to a fully foldable and deployable mechanism inspired by the Yoshimura pattern in rigid origami, which can be used for structures such as postdisaster shelters, prefabricated structures, etc., and is industrially applicable.

[0030] The invention is not limited to the above descriptions, and a person skilled in the art can easily come up with different embodiments of the invention. These should be considered within the scope of protection as defined in the appended claims.REFERENCES

[0031] [1] Limoncu S, Bayulgen C (2005). Turkiye'de Afet Sonrasi Ya§anan Barmma Sorunlan. Megaron, 1(1), 18-27. Linn, C. (2014). Kinetic architecture: design for active envelopes. Images publishing.

[0032] [2] mar A, Akgun Y, Maral H (2018). Afet Sonrasi Acil Toplanma ve Gegici Barmma Alanlannm Planlanmasindaki Faktdrlerin incelenmesi: izmir-Kar§iyaka Ornegi. Planlama, 28(2): 179-200 doi:10.14744 / planlama.2018.07088

[0033] [3] Ayanoglu, G., & Erba§, i. (2023, September 30). Kinetik Mimari elemanlarla afet neyim. Afet ve Risk Dergisi.

[0034]

[0035] [4] Tutkun, Z., & Demirkan, O. (2024, January 5). Konutlarda HAREKETLl IQ Mekan Tasarimi. insanat Sanat Tasanm ve Mimarlik Ara§tirmalan Dergisi. https: / / dergipark.org.tr / tr / pub / insanat / issue / 82616 / 1379724

[0036] [5] Duran N (2019) Kinetik Mimarlik Baglamindaki Hareketli Yapi Uygulamalannin inceleme Ve Degerlendirmeleri. Yuksek Lisans Tezi, Yildiz Teknik Universitesi, Istanbul.

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Claims

CLAIMS1. A physical structure with kinematic compatibility, characterized in that it comprises at least two walls, each made up of two or more panels interconnected via hinged joints, and at least one hinge that forms the movable connection points of the panels and enables free rotational motion between the panels to ensure kinematic compatibility.

2. A structure according to claim 1 , characterized in that the structure is capable of transitioning between a folded state and an deployed state with a single degree of freedom.

3. A structure according to claim 2, characterized in that it forms a volume with a length of 6 m and a height of 2.6 m in its deployed state.

4. A structure according to claim 2, characterized in that in its deployed configuration, the side wall height is 2 m and the base area is 18.6 m2.

5. A structure according to claim 2, characterized in that in its folded state, the base length is 6 m and the height is 3.5 m.

6. A structure according to any of the preceding claims, characterized in that at least one of the walls consists of panels arranged and connected in such a way that the wall is folded both by one or more mountain folds and by one or more valley folds.

7. A structure according to any of the preceding claims, characterized in that it comprises at least one roof.

8. A structure according to claim 7, characterized in that the roof is one of the walls.

9. A structure according to any of the preceding claims, characterized in that it comprises at least one additional panel serving as a base, depending on environmental conditions and ground properties.

10. A structure according to claim 9, characterized in that its panels do not deform when transitioning between the folded state and deployed state.

11. A structure according to claim 10 for use as a post-disaster shelter or a prefabricated structure.

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