CN111846510A

CN111846510A - Foldable box structure with symmetrically arranged revolute pairs

Info

Publication number: CN111846510A
Application number: CN202010623154.1A
Authority: CN
Inventors: 陈焱; 顾元庆; 贾振浩; 马家耀; 崔琦峰; 李明
Original assignee: Tianjin University; Shanghai Aerospace System Engineering Institute
Current assignee: Tianjin University; Shanghai Aerospace System Engineering Institute
Priority date: 2020-06-30
Filing date: 2020-06-30
Publication date: 2020-10-30

Abstract

The invention discloses a foldable box structure with symmetrically arranged revolute pairs, which comprises sixteen surfaces, wherein a first surface, a second surface, a third surface and a fourth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the fifth surface, the sixth surface, the seventh surface, the eighth surface, the ninth surface, the tenth surface, the twelfth surface, the thirteenth surface, the tenth four surface, the fifteenth surface and the sixteenth surface are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the first side surface, the second side surface, the third side surface, the fourth side surface, the fifth side surface and the sixth side surface are arranged above the bottom surface and are connected with six edges of the bottom surface, and the six side surfaces are sequentially connected end to end; the surfaces and the side surfaces are connected through revolute pairs; in the integral folding and unfolding process of the structure, the second revolute pair, the fourth revolute pair, the eighteenth revolute pair and the twenty-first revolute pair are always positioned on the same plane, and the integral structure is folded and unfolded around a reference plane formed by the plane.

Description

Foldable box structure with symmetrically arranged revolute pairs

Technical Field

The invention relates to a foldable and expandable box structure, in particular to a foldable and expandable box structure based on a paper folding structure and having single degree of freedom, large folding-expansion ratio and symmetrical arrangement of revolute pairs.

Background

In aerospace, building structures, transportation, artwork and daily life, polyhedral structures are widely applied due to good symmetry, but due to the limitation of large volume and inconvenience in transportation, polyhedral structures are more applied to fixed occasions. The cubic small satellite which is rated as ten technological breakthroughs in 2014 by the journal of SCIENCE is a typical representative of the aerospace field which pursues miniaturization and low-cost emission, but the defect of narrow working space in an on-orbit state also restricts the further application of the cubic small satellite.

The space-shaped foldable structure is a novel structure which emerges along with the development of aerospace science and technology, is in a folding and accommodating state in the launching and returning recovery processes, and occupies the least space of the airship; after the body-shaped foldable structure is placed into the orbit, the body-shaped foldable structure can be unfolded into a working state with a larger space according to the design. The basic unit of the space expandable structure adopts an over-constraint mechanism, and has the advantages of high rigidity, simplicity in manufacturing, low cost, high reliability and the like.

The existing container can not be folded, occupies a large amount of space when no load exists, and brings great difficulty to storage and transportation; or the folding process is complex, the structural freedom is more, and the folding and unfolding process is not easy to control, such as the foldable container proposed in 2019 by Marxiong.

Therefore, the body-shaped expandable structure, particularly the prism structure taking the polygon as the bottom surface, is applied less at present, has the defects of incomplete folding, small folding and expanding ratio and the like, and has great application and improvement space in the aspects of container transportation and the like.

Disclosure of Invention

The invention aims to overcome the defects in the prior art and provide a foldable box structure with symmetrically arranged revolute pairs. The expandable box structure has better rigidity, can be completely folded and unfolded, has smaller volume and regular shape when being folded, is convenient to transport, and has larger working space when being opened into a working state according to requirements; the whole structure has only one degree of freedom, and the motion control is simple; the structural unit is a plane or curved plate, the processing is simple, and the batch production can be realized; based on the advantages, the invention has important significance and wide application prospect in a plurality of fields such as packaging, storage, container transportation, civil structure, aerospace and the like.

The purpose of the invention is realized by the following technical scheme:

a foldable box structure with symmetrically arranged revolute pairs comprises sixteen surfaces, namely a first surface, a second surface, a third surface, a fourth surface, a fifth surface, a sixth surface, a seventh surface, an eighth surface, a ninth surface, a tenth surface, a twelfth surface, a thirteenth surface, a fourteenth surface, a fifteenth surface and a thirteenth surface in sequence;

The first surface, the second surface, the third surface and the fourth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the fifth surface, the sixth surface, the seventh surface, the eighth surface, the ninth surface, the tenth surface, the thirteenth surface, the fourteenth surface and the sixteenth surface are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the fifth surface is connected with the sixth surface to form the first side surface, the seventh surface is connected with the eighth surface to form the second side surface, the ninth surface is connected with the tenth surface to form the third side surface, the tenth surface is connected with the twelfth surface to form the fourth side surface, the thirteenth surface is connected with the fourteenth surface to form the fifth side surface, and the fifteenth surface is connected with the sixteenth surface to form the sixth side surface; the first side surface, the second side surface, the third side surface, the fourth side surface, the fifth side surface and the sixth side surface are arranged above the bottom surface and are connected with six edges of the bottom surface, and the six side surfaces are sequentially connected end to end;

the first surface and the second surface are adjacent and are mutually connected through a first rotating pair, the second surface and the third surface are adjacent and are mutually connected through a second rotating pair, the third surface and the fourth surface are adjacent and are mutually connected through a third rotating pair, and the first surface and the fourth surface are adjacent and are mutually connected through a fourth rotating pair; the fifth surface is adjacent to the sixth surface and interconnected by a fifth revolute pair, the seventh surface is adjacent to the eighth surface and interconnected by a sixth revolute pair, the ninth surface is adjacent to the tenth surface and interconnected by a seventh revolute pair, the tenth surface is adjacent to the twelfth surface and interconnected by an eighth revolute pair, the thirteenth surface is adjacent to the fourteenth surface and interconnected by a ninth revolute pair, and the fifteenth surface is adjacent to the sixteenth surface and interconnected by a tenth revolute pair; the first side surface is adjacent to the first surface and interconnected by an eleventh revolute pair, the second side surface is adjacent to the second surface and interconnected by a twelfth revolute pair, the third side surface is adjacent to the third surface and interconnected by a thirteenth revolute pair, the fourth side surface is adjacent to the fourth surface and interconnected by a fourteenth revolute pair, the fifth side surface is adjacent to the fourth surface and interconnected by a fifteenth revolute pair, and the sixth side surface is adjacent to the first surface and interconnected by a sixteenth revolute pair; the first side is adjacent to the second side and interconnected by a seventeenth revolute pair, the second side is adjacent to the third side and interconnected by an eighteenth revolute pair, the third side is adjacent to the fourth side and interconnected by a nineteenth revolute pair, the fourth side is adjacent to the fifth side and interconnected by a twentieth revolute pair, the fifth side is adjacent to the sixth side and interconnected by a twenty-first revolute pair, and the sixth side is adjacent to the first side and interconnected by a twenty-twelfth revolute pair;

In the integral folding and unfolding process of the structure, the second revolute pair, the fourth revolute pair, the eighteenth revolute pair and the twenty-first revolute pair are always positioned on the same plane, and the integral structure folds and unfolds around a reference plane formed by the plane; when the folding machine is folded, the motion of the first surface and the fourth surface, the second surface and the third surface, the fifth surface and the tenth surface, the sixth surface and the tenth surface, the seventh surface and the tenth surface, the eighth surface and the ninth surface, the fifteenth surface and the tenth surface, and the thirteenth surface and the tenth surface are in a plane-symmetric relationship based on the reference surface; when the foldable seat is folded, the first rotating pair and the third rotating pair, the fifth rotating pair and the eighth rotating pair, the sixth rotating pair and the seventh rotating pair, the tenth rotating pair and the ninth rotating pair, the eleventh rotating pair and the fourteenth rotating pair, the twelfth rotating pair and the thirteenth rotating pair, the sixteenth rotating pair and the fifteenth rotating pair, the seventeenth rotating pair and the nineteenth rotating pair, and the twenty-second rotating pair and the twentieth rotating pair are in surface symmetry based on the reference surface.

Further, under the condition of completely folding into a plane, all the revolute pair axes are on the same plane; in the fully unfolded state, a prismatic box structure is formed; the outer contour line of each face is a straight line, a curved line or a broken line.

Furthermore, the foldable box structure has a single degree of freedom, and the mutual conversion between the space body-shaped structure and the plane polygonal structure can be realized by changing the included angle of the adjacent surfaces.

Furthermore, the foldable box structure is a box structure which takes a polygon as a bottom surface and has the height equal to or less than the side length of the bottom surface in a fully unfolded state, and is a polygonal plane structure in a fully folded state.

Furthermore, all revolute pairs are formed by one of hinges, hinges or bearings.

Compared with the prior art, the technical scheme of the invention has the following beneficial effects:

1. the invention has larger folding and unfolding ratio, can be directly folded into a plane polygon structure by a prism structure taking a polygon as a bottom surface, and can realize complete folding.

2. The invention has a degree of freedom through the design of a space mechanism, can finish folding and unfolding actions through single drive, and has convenient installation and use and reliable movement.

3. The invention is designed with the aim of functionality, the size of the unit structure can be designed according to actual requirements, the size of the revolute pair can be adjusted according to requirements, the installation driving position can be selected at will under the actual requirements, and cavities with any shapes can be arranged on the surface according to the actual requirements.

4. The unfolded rectangular prism has a straight prism structure, the side surface of the prism is vertical to the bottom surface, the structure is stable, the rigidity is high, the working space is large, and the support and the work are convenient; the folded product has small volume, regular shape, stable structure and convenient transportation and storage.

5. The invention has simple structure, and the connection between the two adjacent surfaces can be realized by the revolute pair without installing other connection structures in the surface, thereby improving the stability of installation and control.

Drawings

Fig. 1-1 is a schematic diagram of a fully unfolded state of the foldable box structure according to the first embodiment, in which the fully unfolded state is a box structure with a regular hexagon as a bottom surface and a side length higher than the bottom surface.

FIGS. 1-2 are plan expanded views of a box structure according to an embodiment;

fig. 1-3 are schematic views of planar polygonal structures of a fully folded box structure according to an embodiment.

Fig. 1-4 and 1-5 are schematic views showing a folding sequence of a box structure according to an embodiment, wherein fig. 1-4 show an intermediate folding state and fig. 1-5 show a fully folded state.

Fig. 2-1 is a schematic diagram of a fully unfolded state of the foldable box structure in the second embodiment, in which the fully unfolded state of the structure is a box structure with a regular pentagon as a bottom surface and a side length higher than the bottom surface.

FIG. 2-2 is a plan view of the second box structure of the embodiment;

FIGS. 2-3 are schematic views of the planar polygonal structure of the fully folded box structure of the second embodiment.

Fig. 2-4 and 2-5 are schematic views of the folding sequence of the two-box structure of the embodiment, wherein fig. 2-4 show the intermediate folding state and fig. 2-5 show the fully folded state.

Fig. 3-1 is a schematic diagram of a fully unfolded state of the foldable box structure in the third embodiment, where the fully unfolded state of the structure is a box structure with a regular hexagon as a bottom surface and a side length higher than the bottom surface.

FIG. 3-2 is a plan expanded view of a three-box structure of the embodiment;

fig. 3-3 are schematic views of the planar polygonal structure of the three-box structure of the embodiment in a fully folded state.

Fig. 3-4 and 3-5 are schematic views of the folding sequence of the three-box structure of the embodiment, wherein fig. 3-4 show the intermediate folding state and fig. 3-5 show the fully folded state.

Fig. 4-1 is a schematic diagram of a fully unfolded state of the foldable box structure in the fourth embodiment, in which the fully unfolded state of the structure is a box structure with a regular pentagon as a bottom surface and a side length higher than the bottom surface.

FIG. 4-2 is a plan expanded view of a four-box structure of the embodiment;

fig. 4-3 are schematic views of the planar polygonal structure of the four-box structure of the embodiment in a fully folded state.

Fig. 4-4 and 4-5 are schematic views of the folding sequence of the four-box structure of the embodiment, wherein fig. 4-4 show the intermediate folding state and fig. 4-5 show the fully folded state.

Fig. 5-1 is a schematic diagram of a fully unfolded state of the foldable box structure in the fifth embodiment, in which the fully unfolded state is a box structure with a regular hexagon as a bottom surface and a side length higher than the bottom surface.

FIG. 5-2 is a plan expanded view of a five-box structure of the embodiment;

fig. 5-3 are schematic views of the planar polygonal structure of the fully folded five-box structure of the embodiment.

Fig. 5-4 and 5-5 are schematic views of the folding sequence of the five-box structure of the embodiment, wherein fig. 5-4 show the intermediate folding state and fig. 5-5 show the fully folded state.

Fig. 6-1 is a schematic diagram of a fully unfolded state of the foldable box structure in the sixth embodiment, in which the fully unfolded state of the structure is a box structure with a regular pentagon as a bottom surface and a side length higher than the bottom surface.

FIG. 6-2 is a plan expanded view of a six-box structure of the embodiment;

fig. 6-3 are schematic views of the planar polygonal structure of the six-box structure of the embodiment in a fully folded state.

Fig. 6-4 and 6-5 are schematic views showing a folding sequence of a six-box structure according to an embodiment, wherein fig. 6-4 show an intermediate folding state and fig. 6-5 show a fully folded state.

Reference numerals:

for the first embodiment:

a 1-first face, a 2-second face, A3-third face, a 4-fourth face, a 5-fifth face, A6-sixth face, a 7-seventh face, A8-eighth face, a 9-ninth face, a 10-tenth face, a 11-tenth face, a 12-tenth face, a 13-tenth face, a 14-fourteenth face, a 15-fifteenth face, a 16-twelfth face;

u0-bottom, U1-first side, U2-second side, U3-third side, U4-fourth side, U5-fifth side, U6-sixth side;

l1-a first revolute pair, L2-a second revolute pair, L3-a third revolute pair, L4-a fourth revolute pair, L5-a fifth revolute pair, L6-a sixth revolute pair, L7-a seventh revolute pair, L8-an eighth revolute pair, L9-a ninth revolute pair, L10-a tenth revolute pair, L11-an eleventh revolute pair, L12-a twelfth revolute pair, L13-a thirteenth revolute pair, L14-a fourteenth revolute pair, L15-a fifteenth revolute pair, L16-a sixteenth revolute pair, L17-a seventeenth revolute pair, L18-an eighteenth revolute pair, L19-a nineteenth revolute pair, L20-a twentieth revolute pair, L21-a twenty-first revolute pair, L22-a twenty-second revolute pair.

For example two:

b1-first face, B2-second face, B3-third face, B4-fourth face, B5-fifth face, B6-sixth face, B7-seventh face, B8-eighth face, B9-ninth face, B10-tenth face, B11-tenth face, B12-tenth face, B13-tenth face, B14-fourteenth face, B15-fifteenth face, B16-twelfth face;

V0-bottom, V1-first side, V2-second side, V3-third side, V4-fourth side, V5-fifth side, V6-sixth side;

m1-a first revolute pair, M2-a second revolute pair, M3-a third revolute pair, M4-a fourth revolute pair, M5-a fifth revolute pair, M6-a sixth revolute pair, M7-a seventh revolute pair, M8-an eighth revolute pair, M9-a ninth revolute pair, M10-a tenth revolute pair, M11-an eleventh revolute pair, M12-a twelfth revolute pair, M13-a thirteenth revolute pair, M14-a fourteenth revolute pair, M15-a fifteenth revolute pair, M16-a sixteenth revolute pair, M17-a seventeenth revolute pair, M18-an eighteenth revolute pair, M19-a nineteenth revolute pair, M20-a twentieth revolute pair, M21-a twenty-first revolute pair, and M22-a twenty-second revolute pair.

For example three:

c1-first face, C2-second face, C3-third face, C4-fourth face, C5-fifth face, C6-sixth face, C7-seventh face, C8-eighth face, C9-ninth face, C10-tenth face, C11-tenth face, C12-tenth face, C13-tenth face, C14-fourteenth face, C15-fifteenth face, C16-thirteenth face;

w0-bottom, W1-first side, W2-second side, W3-third side, W4-fourth side, W5-fifth side, W6-sixth side;

N1-a first revolute pair, N2-a second revolute pair, N3-a third revolute pair, N4-a fourth revolute pair, N5-a fifth revolute pair, N6-a sixth revolute pair, N7-a seventh revolute pair, N8-an eighth revolute pair, N9-a ninth revolute pair, N10-a tenth revolute pair, N11-an eleventh revolute pair, N12-a twelfth revolute pair, N13-a thirteenth revolute pair, N14-a fourteenth revolute pair, N15-a fifteenth revolute pair, N16-a sixteenth revolute pair, N17-a seventeenth revolute pair, N18-an eighteenth revolute pair, N19-a nineteenth revolute pair, N20-a twentieth revolute pair, N21-a twenty-first revolute pair, N22-a twenty-second revolute pair.

For example four:

d1-first face, D2-second face, D3-third face, D4-fourth face, D5-fifth face, D6-sixth face, D7-seventh face, D8-eighth face, D9-ninth face, D10-tenth face, D11-tenth face, D12-tenth face, D13-tenth face, D14-fourteenth face, D15-fifteenth face, D16-thirteenth face;

x0-bottom, X1-first side, X2-second side, X3-third side, X4-fourth side, X5-fifth side, X6-sixth side;

o1-a first revolute pair, O2-a second revolute pair, O3-a third revolute pair, O4-a fourth revolute pair, O5-a fifth revolute pair, O6-a sixth revolute pair, O7-a seventh revolute pair, O8-an eighth revolute pair, O9-a ninth revolute pair, O10-a tenth revolute pair, O11-an eleventh revolute pair, O12-a twelfth revolute pair, O13-a thirteenth revolute pair, O14-a fourteenth revolute pair, O15-a fifteenth revolute pair, O16-a sixteenth revolute pair, O17-a seventeenth revolute pair, O18-an eighteenth revolute pair, O19-a nineteenth revolute pair, O20-a twentieth revolute pair, O21-a twenty-first revolute pair, O22-a twenty-second revolute pair.

For example five:

e1-first face, E2-second face, E3-third face, E4-fourth face, E5-fifth face, E6-sixth face, E7-seventh face, E8-eighth face, E9-ninth face, E10-tenth face, E11-first face, E12-tenth face, E13-tenth face, E14-fourteenth face, E15-fifteenth face, E16-thirteenth face;

y0-bottom, Y1-first side, Y2-second side, Y3-third side, Y4-fourth side, Y5-fifth side, Y6-sixth side;

p1-a first revolute pair, P2-a second revolute pair, P3-a third revolute pair, P4-a fourth revolute pair, P5-a fifth revolute pair, P6-a sixth revolute pair, P7-a seventh revolute pair, P8-an eighth revolute pair, P9-a ninth revolute pair, P10-a tenth revolute pair, P11-an eleventh revolute pair, P12-a twelfth revolute pair, P13-a thirteenth revolute pair, P14-a fourteenth revolute pair, P15-a fifteenth revolute pair, P16-a sixteenth revolute pair, P17-a seventeenth revolute pair, P18-an eighteenth revolute pair, P19-a nineteenth revolute pair, P20-a twentieth revolute pair, P21-a twenty-first revolute pair, and P22-a twenty-second revolute pair.

For example six:

f1-first face, F2-second face, F3-third face, F4-fourth face, F5-fifth face, F6-sixth face, F7-seventh face, F8-eighth face, F9-ninth face, F10-tenth face, F11-tenth face, F12-tenth face, F13-tenth face, F14-fourteenth face, F15-fifteenth face, F16-thirteenth face;

Z0-bottom, Z1-first side, Z2-second side, Z3-third side, Z4-fourth side, Z5-fifth side, Z6-sixth side;

q1-first revolute pair, Q2-second revolute pair, Q3-third revolute pair, Q4-fourth revolute pair, Q5-fifth revolute pair, Q6-sixth revolute pair, Q7-seventh revolute pair, Q8-eighth revolute pair, Q9-ninth revolute pair, Q10-tenth revolute pair, Q11-eleventh revolute pair, Q12-twelfth revolute pair, Q13-thirteenth revolute pair, Q14-fourteenth revolute pair, Q15-fifteenth revolute pair, Q16-sixteenth revolute pair, Q17-seventeenth revolute pair, Q18-eighteenth revolute pair, Q19-nineteenth revolute pair, Q20-twentieth revolute pair, Q21-twenty-first revolute pair, Q22-twenty-second revolute pair.

Detailed Description

The invention is described in further detail below with reference to the figures and specific examples. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

The first embodiment is as follows:

as shown in fig. 1-1, the fully unfolded state of the foldable box structure with symmetrically arranged revolute pairs provided in this embodiment is a box structure with a regular hexagon as a bottom surface and a side length higher than the bottom surface.

As shown in fig. 1-2, the structure shown is a component assembly and a plan expanded view of a collapsible box structure. The novel LED display panel comprises sixteen surfaces, namely a first surface A1, a second surface A2, a third surface A3, a fourth surface A4, a fifth surface A5, a sixth surface A6, a seventh surface A7, an eighth surface A8, a ninth surface A9, a tenth surface A10, a tenth surface A11, a twelfth surface A12, a thirteenth surface A13, a fourteenth surface A14, a fifteenth surface A15 and a sixteenth surface A16.

The first face A1, the second face A2, the third face A3 and the fourth face A4 are connected to form a bottom face U0 of the foldable and unfoldable box structure and are placed in the middle; a fifth side A5, a sixth side A6, a seventh side a7, an eighth side A8, a ninth side a9, a tenth side a10, a tenth side a11, a twelfth side a12, a thirteenth side a13, a fourteenth side a14, a fifteenth side a15 and a sixteenth side a16 are sequentially connected to form six sides of the foldable and unfoldable box structure, the fifth side A5 is connected with the sixth side A6 to form a first side U1, the seventh side a7 is connected with the eighth side A8 to form a second side U2, the ninth side a9 is connected with the tenth side a10 to form a third side U3, the eleventh side a11 is connected with the twelfth side a12 to form a fourth side U4, the thirteenth side a13 is connected with the fourteenth side a14 to form a fifth side U5, and the fifteenth side a15 is connected with the sixteenth side a16 to form A6; the first side surface U1, the second side surface U2, the third side surface U3, the fourth side surface U4, the fifth side surface U5 and the sixth side surface U6 are arranged above the bottom surface U0 and connected with six sides of the bottom surface U0, and the six side surfaces are connected end to end in sequence.

First face a1 is adjacent to second face a2 and interconnected by first revolute pair L1, second face a2 is adjacent to third face A3 and interconnected by second revolute pair L2, third face A3 is adjacent to fourth face a4 and interconnected by third revolute pair L3, first face a1 is adjacent to fourth face a4 and interconnected by fourth revolute pair L4; fifth face a5 is adjacent to sixth face a6 and interconnected by fifth revolute pair L5, seventh face a7 is adjacent to eighth face A8 and interconnected by sixth revolute pair L6, ninth face a9 is adjacent to tenth face a10 and interconnected by seventh revolute pair L7, eleventh face a11 is adjacent to twelfth face a12 and interconnected by eighth revolute pair L8, thirteenth face a13 is adjacent to fourteenth face a14 and interconnected by ninth revolute pair L9, fifteenth face a15 is adjacent to sixteenth face a16 and interconnected by tenth revolute pair L10; first side U1 is adjacent to first face a1 and interconnected by eleventh revolute pair L11, second side U2 is adjacent to second face a2 and interconnected by twelfth revolute pair L12, third side U3 is adjacent to third face A3 and interconnected by thirteenth revolute pair L13, fourth side U4 is adjacent to fourth face a4 and interconnected by fourteenth revolute pair L14, fifth side U5 is adjacent to fourth face a4 and interconnected by fifteenth revolute pair L15, sixth side U6 is adjacent to first face a1 and interconnected by sixteenth revolute pair L16; the first side U1 is adjacent to the second side U2 and interconnected by a seventeenth revolute pair L17, the second side U2 is adjacent to the third side U3 and interconnected by an eighteenth revolute pair L18, the third side U3 is adjacent to the fourth side U4 and interconnected by a nineteenth revolute pair L19, the fourth side U4 is adjacent to the fifth side U5 and interconnected by a twentieth revolute pair L20, the fifth side U5 is adjacent to the sixth side U6 and interconnected by a twenty-first revolute pair L21, and the sixth side U6 is adjacent to the first side U1 and interconnected by a twelfth revolute pair L22.

In the integral folding and unfolding process of the structure, the second revolute pair L2, the fourth revolute pair L4, the eighteenth revolute pair L18 and the twenty-first revolute pair L21 are always in the same plane, and the integral folding and unfolding process is carried out around a reference plane formed by the plane. When the folding machine is folded, the motions of the first surface A1 and the fourth surface A4, the second surface A2 and the third surface A3, the fifth surface A5 and the twelfth surface A12, the sixth surface A6 and the eleventh surface A11, the seventh surface A7 and the tenth surface A10, the eighth surface A8 and the ninth surface A9, the fifteenth surface A15 and the fourteenth surface A14, and the sixteenth surface A16 and the thirteenth surface A13 are in a surface-symmetric relation based on the reference surface; when the foldable scooter is folded, the first revolute pair L1 and the third revolute pair L3, the fifth revolute pair L5 and the eighth revolute pair L8, the sixth revolute pair L6 and the seventh revolute pair L7, the tenth revolute pair L10 and the ninth revolute pair L9, the eleventh revolute pair L11 and the fourteenth revolute pair L14, the twelfth revolute pair L12 and the thirteenth revolute pair L13, the sixteenth revolute pair L16 and the fifteenth revolute pair L15, the seventeenth revolute pair L17 and the nineteenth revolute pair L19, and the twenty-second revolute pair L22 and the twentieth revolute pair L20 are in a plane symmetry relationship based on a reference plane.

In the above-described face connection manner, the embodiment can be folded into a polygonal planar structure, as shown in fig. 1-3; the folding process and sequence are shown in fig. 1-4 to fig. 1-5, with fig. 1-4 showing the intermediate state of folding and fig. 1-5 showing the fully folded state.

Therefore, the folding and unfolding effect required by the invention can be achieved as long as the box structure meets the constraint conditions, namely the connection mode of the revolute pair is met, and the structural form and the folding and unfolding mode are not influenced by the specific structure of the folding unit. The revolute pair is a hinge, a hinge or a bearing; the length of the revolute pair is not limited, and the revolute pair can be formed and a structural unit can be stably connected; a cavity with any shape is arranged on the composition surface of each unit according to the requirement; the outer contour line of each of the units may be a straight line, a curved line or a broken line. The foldable box structure has single degree of freedom, and can be folded and unfolded by arranging a single drive. The box structure provided by the invention has the characteristics of single degree of freedom, large folding and unfolding ratio and simple unit structure, so that the box structure has the advantages of simplicity in installation, convenience in operation, easiness in transportation and the like, and is particularly suitable for application in the fields of packaging, storage, civil structures, aerospace and the like.

Example two:

as shown in fig. 2-1, the fully unfolded state of the foldable box structure with symmetrically arranged revolute pairs provided in this embodiment is a box structure with a regular pentagon as a bottom surface and a side length higher than the bottom surface.

As shown in fig. 2-2, the structure is shown in the form of a component part of a collapsible box structure and in a flat expanded view. The novel LED display panel comprises sixteen surfaces, namely a first surface B1, a second surface B2, a third surface B3, a fourth surface B4, a fifth surface B5, a sixth surface B6, a seventh surface B7, an eighth surface B8, a ninth surface B9, a tenth surface B10, a tenth surface B11, a twelfth surface B12, a thirteenth surface B13, a fourteenth surface B14, a fifteenth surface B15 and a sixteenth surface B16.

The first face B1, the second face B2, the third face B3 and the fourth face B4 are connected to form a bottom face V0 of the foldable and unfoldable box structure and are placed in the middle; a fifth side B5, a sixth side B6, a seventh side B7, an eighth side B8, a ninth side B9, a tenth side B10, a tenth side B11, a twelfth side B12, a thirteenth side B13, a fourteenth side B14, a fifteenth side B15 and a sixteenth side B16 are sequentially connected to form six sides of the foldable and unfoldable box structure, the fifth side B5 is connected with the sixth side B6 to form a first side V1, the seventh side B7 is connected with the eighth side B8 to form a second side V2, the ninth side B9 is connected with the tenth side B10 to form a third side V3, the eleventh side B11 is connected with the twelfth side B12 to form a fourth side V4, the thirteenth side B13 is connected with the fourteenth side B14 to form a fifth side V5, and the fifteenth side B15 is connected with the sixteenth side B16 to form a sixth side V6; the first side surface V1, the second side surface V2, the third side surface V3, the fourth side surface V4, the fifth side surface V5 and the sixth side surface V6 are arranged above the bottom surface V0 and connected with six sides of the bottom surface V0, and the six side surfaces are connected end to end in sequence.

First face B1 is adjacent to second face B2 and interconnected by first revolute pair M1, second face B2 is adjacent to third face B3 and interconnected by second revolute pair M2, third face B3 is adjacent to fourth face B4 and interconnected by third revolute pair M3, and first face B1 is adjacent to fourth face B4 and interconnected by fourth revolute pair M4; fifth face B5 is adjacent to sixth face B6 and interconnected by fifth revolute pair M5, seventh face B7 is adjacent to eighth face B8 and interconnected by sixth revolute pair M6, ninth face B9 is adjacent to tenth face B10 and interconnected by seventh revolute pair M7, eleventh face B11 is adjacent to twelfth face B12 and interconnected by eighth revolute pair M8, thirteenth face B13 is adjacent to fourteenth face B14 and interconnected by ninth revolute pair M9, fifteenth face B15 is adjacent to sixteenth face B16 and interconnected by tenth revolute pair M10; first side V1 is adjacent to first face B1 and interconnected by eleventh revolute pair M11, second side V2 is adjacent to second face B2 and interconnected by twelfth revolute pair M12, third side V3 is adjacent to third face B3 and interconnected by thirteenth revolute pair M13, fourth side V4 is adjacent to fourth face B4 and interconnected by fourteenth revolute pair M14, fifth side V5 is adjacent to fourth face B4 and interconnected by fifteenth revolute pair M15, sixth side V6 is adjacent to first face B1 and interconnected by sixteenth revolute pair M16; the first side V1 is adjacent to the second side V2 and interconnected by a seventeenth revolute pair M17, the second side V2 is adjacent to the third side V3 and interconnected by an eighteenth revolute pair M18, the third side V3 is adjacent to the fourth side V4 and interconnected by a nineteenth revolute pair M19, the fourth side V4 is adjacent to the fifth side V5 and interconnected by a twentieth revolute pair M20, the fifth side V5 is adjacent to the sixth side V6 and interconnected by a twenty-first revolute pair M21, and the sixth side V6 is adjacent to the first side V1 and interconnected by a twelfth revolute pair M22.

In the integral folding and unfolding process of the structure, the second revolute pair M2, the fourth revolute pair M4, the eighteenth revolute pair M18 and the twenty-first revolute pair M21 are always in the same plane, and the integral folding and unfolding process is carried out around a reference plane formed by the plane. When folded, the first face B1 and the fourth face B4, the second face B2 and the third face B3, the fifth face B5 and the twelfth face B12, the sixth face B6 and the eleventh face B11, the seventh face B7 and the tenth face B10, the eighth face B8 and the ninth face B9, the fifteenth face B15 and the fourteenth face B14, and the sixteenth face B16 and the thirteenth face B13 move in a face-to-face symmetric relationship based on the reference plane; when the foldable bicycle is folded, the first rotating pair M1 and the third rotating pair M3, the fifth rotating pair M5 and the eighth rotating pair M8, the sixth rotating pair M6 and the seventh rotating pair M7, the tenth rotating pair M10 and the ninth rotating pair M9, the eleventh rotating pair M11 and the fourteenth rotating pair M14, the twelfth rotating pair M12 and the thirteenth rotating pair M13, the sixteenth rotating pair M16 and the fifteenth rotating pair M15, the seventeenth rotating pair M17 and the nineteenth rotating pair M19, and the twenty-second rotating pair M22 and the twentieth rotating pair M20 are in a plane-symmetric relationship based on the reference plane.

In this embodiment, the second side V2 and the third side V3 are coplanar to form one side of a pentagonal prism structure when the foldable box structure is in a fully unfolded state.

In the above-described face connection manner, the embodiment can be folded into a polygonal planar structure, as shown in fig. 2-3; the folding process and sequence are shown in fig. 2-4 to fig. 2-5, with fig. 2-4 showing the intermediate state of folding and fig. 2-5 showing the fully folded state.

Example three:

as shown in fig. 3-1, the fully unfolded state of the foldable box structure with symmetrically arranged revolute pairs provided by this embodiment is a box structure with a regular hexagon as the bottom surface and a side length higher than the bottom surface.

As shown in fig. 3-2, the structure shown is a component assembly and a plan expanded view of the structure of the collapsible box. The novel LED display panel comprises sixteen surfaces, namely a first surface C1, a second surface C2, a third surface C3, a fourth surface C4, a fifth surface C5, a sixth surface C6, a seventh surface C7, an eighth surface C8, a ninth surface C9, a tenth surface C10, a tenth surface C11, a twelfth surface C12, a thirteenth surface C13, a fourteenth surface C14, a fifteenth surface C15 and a sixteenth surface C16.

The first face C1, the second face C2, the third face C3 and the fourth face C4 are connected to form a bottom face W0 of the foldable and unfoldable box structure and are placed in the middle; a fifth side C5, a sixth side C6, a seventh side C7, an eighth side C8, a ninth side C9, a tenth side C10, a tenth side C11, a twelfth side C12, a thirteenth side C13, a fourteenth side C14, a fifteenth side C14, and a sixteenth side C14 are sequentially connected to form six sides of the foldable and unfoldable box structure, the fifth side C14 is connected with the sixth side C14 to form a first side W14, the seventh side C14 is connected with the eighth side C14 to form a second side W14, the ninth side C14 is connected with the tenth side C14 to form a third side W14, the eleventh side C14 is connected with the twelfth side C14 to form a fourth side W14, the thirteenth side C14 is connected with the fourteenth side C14 to form a fifth side W14, and the fifteenth side C14 is connected with the sixteenth side C14 to form a sixth side W14; the first side surface W1, the second side surface W2, the third side surface W3, the fourth side surface W4, the fifth side surface W5 and the sixth side surface W6 are arranged above the bottom surface W0 and connected with six sides of the bottom surface W0, and the six side surfaces are connected end to end in sequence.

First face C1 is adjacent to second face C2 and interconnected by first revolute pair N1, second face C2 is adjacent to third face C3 and interconnected by second revolute pair N2, third face C3 is adjacent to fourth face C4 and interconnected by third revolute pair N3, first face C1 is adjacent to fourth face C4 and interconnected by fourth revolute pair N4; fifth face C5 is adjacent to sixth face C6 and interconnected by fifth revolute pair N5, seventh face C7 is adjacent to eighth face C8 and interconnected by sixth revolute pair N6, ninth face C9 is adjacent to tenth face C10 and interconnected by seventh revolute pair N7, eleventh face C11 is adjacent to twelfth face C12 and interconnected by eighth revolute pair N8, thirteenth face C13 is adjacent to fourteenth face C14 and interconnected by ninth revolute pair N9, fifteenth face C15 is adjacent to sixteenth face C16 and interconnected by tenth revolute pair N10; first side W1 is adjacent to first face C1 and interconnected by an eleventh revolute pair N11, second side W2 is adjacent to second face C2 and interconnected by a twelfth revolute pair N12, third side W3 is adjacent to third face C3 and interconnected by a thirteenth revolute pair N13, fourth side W4 is adjacent to fourth face C4 and interconnected by a fourteenth revolute pair N14, fifth side W5 is adjacent to fourth face C4 and interconnected by a fifteenth revolute pair N15, sixth side W6 is adjacent to first face C1 and interconnected by a sixteenth revolute pair N16; the first side W1 is adjacent to the second side W2 and interconnected by a seventeenth revolute pair N17, the second side W2 is adjacent to the third side W3 and interconnected by an eighteenth revolute pair N18, the third side W3 is adjacent to the fourth side W4 and interconnected by a nineteenth revolute pair N19, the fourth side W4 is adjacent to the fifth side W5 and interconnected by a twentieth revolute pair N20, the fifth side W5 is adjacent to the sixth side W6 and interconnected by a twenty-first revolute pair N21, and the sixth side W6 is adjacent to the first side W1 and interconnected by a twelfth revolute pair N22.

In the integral folding and unfolding process of the structure, the second revolute pair N2, the fourth revolute pair N4, the eighteenth revolute pair N18 and the twenty-first revolute pair N21 are always in the same plane, and the integral folding and unfolding process is carried out around a reference plane formed by the plane. When folded, the first face C1 and the fourth face C4, the second face C2 and the third face C3, the fifth face C5 and the twelfth face C12, the sixth face C6 and the eleventh face C11, the seventh face C7 and the tenth face C10, the eighth face C8 and the ninth face C9, the fifteenth face C15 and the fourteenth face C14, and the sixteenth face C16 and the thirteenth face C13 move in a face-to-face symmetric relationship based on the reference plane; when the foldable bicycle is folded, the first revolute pair N1 and the third revolute pair N3, the fifth revolute pair N5 and the eighth revolute pair N8, the sixth revolute pair N6 and the seventh revolute pair N7, the tenth revolute pair N10 and the ninth revolute pair N9, the eleventh revolute pair N11 and the fourteenth revolute pair N14, the twelfth revolute pair N12 and the thirteenth revolute pair N13, the sixteenth revolute pair N16 and the fifteenth revolute pair N15, the seventeenth revolute pair N17 and the nineteenth revolute pair N19, and the twenty-second revolute pair N22 and the twentieth revolute pair N20 are in a plane symmetry relationship based on a reference plane.

In the above-described face connection manner, the embodiment can be folded into a polygonal planar structure, as shown in fig. 3-3; the folding process and sequence are shown in fig. 3-4 to fig. 3-5, with fig. 3-4 showing the intermediate state of folding and fig. 3-5 showing the fully folded state.

Example four:

as shown in fig. 4-1, the fully unfolded state of the foldable box structure with symmetrically arranged revolute pairs provided in this embodiment is a box structure with a regular pentagon as a bottom surface and a side length higher than the bottom surface.

As shown in fig. 4-2, the structure is shown in the form of a component part of a collapsible box structure and in a flat expanded view. The novel LED display panel comprises sixteen surfaces, namely a first surface D1, a second surface D2, a third surface D3, a fourth surface D4, a fifth surface D5, a sixth surface D6, a seventh surface D7, an eighth surface D8, a ninth surface D9, a tenth surface D10, a tenth surface D11, a twelfth surface D12, a thirteenth surface D13, a fourteenth surface D14, a fifteenth surface D15 and a sixteenth surface D16.

The first face D1, the second face D2, the third face D3 and the fourth face D4 are connected to form a bottom face X0 of the foldable and unfoldable box structure and are placed in the middle; a fifth surface D5, a sixth surface D6, a seventh surface D7, an eighth surface D8, a ninth surface D9, a tenth surface D10, a tenth surface D11, a twelfth surface D12, a thirteenth surface D13, a fourteenth surface D14, a fifteenth surface D14, and a sixteenth surface D14 are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the fifth surface D14 is connected with the sixth surface D14 to form a first side surface X14, the seventh surface D14 is connected with the eighth surface D14 to form a second side surface X14, the ninth surface D14 is connected with the tenth surface D14 to form a third side surface X14, the eleventh surface D14 is connected with the twelfth surface D14 to form a fourth side surface X14, the thirteenth surface D14 is connected with the fourteenth surface D14 to form a fifth side surface X14, and the fifteenth surface D14 is connected with the sixteenth surface D14 to form a sixth side surface X14; the first side surface X1, the second side surface X2, the third side surface X3, the fourth side surface X4, the fifth side surface X5 and the sixth side surface X6 are arranged above the bottom surface X0 and connected with six sides of the bottom surface X0, and the six side surfaces are connected end to end in sequence.

First face D1 is adjacent to second face D2 and interconnected by first revolute pair O1, second face D2 is adjacent to third face D3 and interconnected by second revolute pair O2, third face D3 is adjacent to fourth face D4 and interconnected by third revolute pair O3, and first face D1 is adjacent to fourth face D4 and interconnected by fourth revolute pair O4; fifth face D5 is adjacent to sixth face D6 and interconnected by fifth revolute pair O5, seventh face D7 is adjacent to eighth face D8 and interconnected by sixth revolute pair O6, ninth face D9 is adjacent to tenth face D10 and interconnected by seventh revolute pair O7, eleventh face D11 is adjacent to twelfth face D12 and interconnected by eighth revolute pair O8, thirteenth face D13 is adjacent to fourteenth face D14 and interconnected by ninth revolute pair O9, fifteenth face D15 is adjacent to sixteenth face D16 and interconnected by tenth revolute pair O10; first side X1 is adjacent to first face D1 and interconnected by eleventh revolute pair O11, second side X2 is adjacent to second face D2 and interconnected by twelfth revolute pair O12, third side X3 is adjacent to third face D3 and interconnected by thirteenth revolute pair O13, fourth side X4 is adjacent to fourth face D4 and interconnected by fourteenth revolute pair O14, fifth side X5 is adjacent to fourth face D4 and interconnected by fifteenth revolute pair O15, sixth side X6 is adjacent to first face D1 and interconnected by sixteenth revolute pair O16; the first side X1 is adjacent to the second side X2 and interconnected by a seventeenth revolute pair O17, the second side X2 is adjacent to the third side X3 and interconnected by an eighteenth revolute pair O18, the third side X3 is adjacent to the fourth side X4 and interconnected by a nineteenth revolute pair O19, the fourth side X4 is adjacent to the fifth side X5 and interconnected by a twentieth revolute pair O20, the fifth side X5 is adjacent to the sixth side X6 and interconnected by a twenty-first revolute pair O21, and the sixth side X6 is adjacent to the first side X1 and interconnected by a twenty-second revolute pair O22.

In the integral folding and unfolding process of the structure, the second revolute pair O2, the fourth revolute pair O4, the eighteenth revolute pair O18 and the twenty-first revolute pair O21 are always in the same plane, and the integral folding and unfolding process is carried out around a reference plane formed by the plane. When the folding machine is folded, the motions of the first surface D1 and the fourth surface D4, the second surface D2 and the third surface D3, the fifth surface D5 and the twelfth surface D12, the sixth surface D6 and the eleventh surface D11, the seventh surface D7 and the tenth surface D10, the eighth surface D8 and the ninth surface D9, the fifteenth surface D15 and the fourteenth surface D14, and the sixteenth surface D16 and the thirteenth surface D13 are in a surface-symmetric relationship based on the reference surface; when the foldable bicycle is folded, the first revolute pair O1 and the third revolute pair O3, the fifth revolute pair O5 and the eighth revolute pair O8, the sixth revolute pair O6 and the seventh revolute pair O7, the tenth revolute pair O10 and the ninth revolute pair O9, the eleventh revolute pair O11 and the fourteenth revolute pair O14, the twelfth revolute pair O12 and the thirteenth revolute pair O13, the sixteenth revolute pair O16 and the fifteenth revolute pair O15, the seventeenth revolute pair O17 and the nineteenth revolute pair O19, and the twenty-second revolute pair O22 and the twentieth revolute pair O20 are in a plane symmetry relationship based on the reference plane.

In this embodiment, the second side X2 and the third side X3 are coplanar to form one side of a pentagonal prism structure when the foldable box structure is in a fully unfolded state.

In the above-described face connection manner, the embodiment can be folded into a polygonal planar structure, as shown in fig. 4-3; the folding process and sequence are shown in fig. 4-4 to 4-5, with fig. 4-4 showing the intermediate state of folding and fig. 4-5 showing the fully folded state.

Example five:

as shown in fig. 5-1, the fully unfolded state of the foldable box structure with symmetrically arranged revolute pairs provided in this embodiment is a box structure with a regular hexagon as the bottom surface and a side length higher than the bottom surface.

As shown in fig. 5-2, the structure is shown in the form of a component part of a collapsible box structure and in a flat expanded view. The novel LED display panel comprises sixteen surfaces, namely a first surface E1, a second surface E2, a third surface E3, a fourth surface E4, a fifth surface E5, a sixth surface E6, a seventh surface E7, an eighth surface E8, a ninth surface E9, a tenth surface E10, a tenth surface E11, a twelfth surface E12, a thirteenth surface E13, a fourteenth surface E14, a fifteenth surface E15 and a sixteenth surface E16.

The first face E1, the second face E2, the third face E3 and the fourth face E4 are connected to form a bottom face Y0 of the foldable and unfoldable box structure and are placed in the middle; a fifth side E5, a sixth side E6, a seventh side E7, an eighth side E8, a ninth side E9, a tenth side E10, a tenth side E11, a twelfth side E12, a thirteenth side E13, a fourteenth side E14, a fifteenth side E14, and a sixteenth side E14 are sequentially connected to serve as six sides of the foldable and unfoldable box structure, the fifth side E14 is connected with the sixth side E14 to form a first side Y14, the seventh side E14 is connected with the eighth side E14 to form a second side Y14, the ninth side E14 is connected with the tenth side E14 to form a third side Y14, the eleventh side E14 is connected with the twelfth side E14 to form a fourth side Y14, the thirteenth side E14 is connected with the fourteenth side E14 to form a fifth side Y14, and the fifteenth side E14 is connected with the sixteenth side E14 to form a sixth side Y14; the first side surface Y1, the second side surface Y2, the third side surface Y3, the fourth side surface Y4, the fifth side surface Y5 and the sixth side surface Y6 are placed above the bottom surface Y0 and connected with six sides of the bottom surface Y0, and the six side surfaces are connected end to end in sequence.

First face E1 is adjacent to second face E2 and interconnected by first revolute pair P1, second face E2 is adjacent to third face E3 and interconnected by second revolute pair P2, third face E3 is adjacent to fourth face E4 and interconnected by third revolute pair P3, first face E1 is adjacent to fourth face E4 and interconnected by fourth revolute pair P4; a fifth face E5 adjacent to a sixth face E6 and interconnected by a fifth revolute pair P5, a seventh face E7 adjacent to an eighth face E8 and interconnected by a sixth revolute pair P6, a ninth face E9 adjacent to a tenth face E10 and interconnected by a seventh revolute pair P7, an eleventh face E11 adjacent to a twelfth face E12 and interconnected by an eighth revolute pair P8, a thirteenth face E13 adjacent to a fourteenth face E14 and interconnected by a ninth revolute pair P9, and a fifteenth face E15 adjacent to a sixteenth face E16 and interconnected by a tenth revolute pair P10; first side Y1 is adjacent to first face E1 and interconnected by eleventh revolute pair P11, second side Y2 is adjacent to second face E2 and interconnected by twelfth revolute pair P12, third side Y3 is adjacent to third face E3 and interconnected by thirteenth revolute pair P13, fourth side Y4 is adjacent to fourth face E4 and interconnected by fourteenth revolute pair P14, fifth side Y5 is adjacent to fourth face E4 and interconnected by fifteenth revolute pair P15, sixth side Y6 is adjacent to first face E1 and interconnected by sixteenth revolute pair P16; the first side Y1 is adjacent to the second side Y2 and interconnected by a seventeenth revolute pair P17, the second side Y2 is adjacent to the third side Y3 and interconnected by an eighteenth revolute pair P18, the third side Y3 is adjacent to the fourth side Y4 and interconnected by a nineteenth revolute pair P19, the fourth side Y4 is adjacent to the fifth side Y5 and interconnected by a twentieth revolute pair P20, the fifth side Y5 is adjacent to the sixth side Y6 and interconnected by a twenty-first revolute pair P21, and the sixth side Y6 is adjacent to the first side Y1 and interconnected by a twenty-second revolute pair P22.

In the integral folding and unfolding process of the structure, the second revolute pair P2, the fourth revolute pair P4, the eighteenth revolute pair P18 and the twenty-first revolute pair P21 are always in the same plane, and the integral folding and unfolding process is carried out around a reference plane formed by the plane. When the folding machine is folded, the motions of the first face E1 and the fourth face E4, the second face E2 and the third face E3, the fifth face E5 and the twelfth face E12, the sixth face E6 and the eleventh face E11, the seventh face E7 and the tenth face E10, the eighth face E8 and the ninth face E9, the fifteenth face E15 and the fourteenth face E14, and the sixteenth face E16 and the thirteenth face E13 are in a plane-symmetric relationship based on the reference plane; when the foldable toy is folded, the first revolute pair P1 and the third revolute pair P3, the fifth revolute pair P5 and the eighth revolute pair P8, the sixth revolute pair P6 and the seventh revolute pair P7, the tenth revolute pair P10 and the ninth revolute pair P9, the eleventh revolute pair P11 and the fourteenth revolute pair P14, the twelfth revolute pair P12 and the thirteenth revolute pair P13, the sixteenth revolute pair P16 and the fifteenth revolute pair P15, the seventeenth revolute pair P17 and the nineteenth revolute pair P19, and the twenty-second revolute pair P22 and the twentieth revolute pair P20 are in a plane symmetry relationship based on a reference plane.

In the above-described face connection manner, the embodiment can be folded into a polygonal planar structure, as shown in fig. 5-3; the folding process and sequence are shown in fig. 5-4 to 5-5, with fig. 5-4 showing the intermediate state of folding and fig. 5-5 showing the fully folded state.

Example six:

as shown in fig. 6-1, the fully unfolded state of the foldable box structure with symmetrically arranged revolute pairs provided in this embodiment is a box structure with a regular pentagon as a bottom surface and a side length higher than the bottom surface.

As shown in fig. 6-2, the structure is shown in the component parts and in a flat expanded view of the structure of the collapsible box. The novel LED display panel comprises sixteen surfaces, namely a first surface F1, a second surface F2, a third surface F3, a fourth surface F4, a fifth surface F5, a sixth surface F6, a seventh surface F7, an eighth surface F8, a ninth surface F9, a tenth surface F10, a tenth surface F11, a twelfth surface F12, a thirteenth surface F13, a fourteenth surface F14, a fifteenth surface F15 and a sixteenth surface F16.

The first face F1, the second face F2, the third face F3 and the fourth face F4 are connected to form a bottom face Z0 of the foldable and unfoldable box structure and are placed in the middle; a fifth surface F5, a sixth surface F6, a seventh surface F7, an eighth surface F8, a ninth surface F9, a tenth surface F10, a tenth surface F11, a twelfth surface F12, a thirteenth surface F13, a fourteenth surface F14, a fifteenth surface F14, and a sixteenth surface F14 are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the fifth surface F14 is connected with the sixth surface F14 to form a first side surface Z14, the seventh surface F14 is connected with the eighth surface F14 to form a second side surface Z14, the ninth surface F14 is connected with the tenth surface F14 to form a third side surface Z14, the eleventh surface F14 is connected with the twelfth surface F14 to form a fourth side surface Z14, the thirteenth surface F14 is connected with the fourteenth surface F14 to form a fifth side surface Z14, and the fifteenth surface F14 is connected with the sixteenth surface F14 to form a sixth side surface Z14; the first side surface Z1, the second side surface Z2, the third side surface Z3, the fourth side surface Z4, the fifth side surface Z5 and the sixth side surface Z6 are arranged above the bottom surface Z0 and connected with six sides of the bottom surface Z0, and the six side surfaces are connected end to end in sequence.

First face F1 is adjacent to second face F2 and interconnected by first revolute pair Q1, second face F2 is adjacent to third face F3 and interconnected by second revolute pair Q2, third face F3 is adjacent to fourth face F4 and interconnected by third revolute pair Q3, first face F1 is adjacent to fourth face F4 and interconnected by fourth revolute pair Q4; a fifth face F5 adjacent to a sixth face F6 and interconnected by a fifth revolute pair Q5, a seventh face F7 adjacent to an eighth face F8 and interconnected by a sixth revolute pair Q6, a ninth face F9 adjacent to a tenth face F10 and interconnected by a seventh revolute pair Q7, an eleventh face F11 adjacent to a twelfth face F12 and interconnected by an eighth revolute pair Q8, a thirteenth face F13 adjacent to a fourteenth face F14 and interconnected by a ninth revolute pair Q9, and a fifteenth face F15 adjacent to a sixteenth face F16 and interconnected by a tenth revolute pair Q10; first side Z1 is adjacent to first face F1 and interconnected by eleventh revolute pair Q11, second side Z2 is adjacent to second face F2 and interconnected by twelfth revolute pair Q12, third side Z3 is adjacent to third face F3 and interconnected by thirteenth revolute pair Q13, fourth side Z4 is adjacent to fourth face F4 and interconnected by fourteenth revolute pair Q14, fifth side Z5 is adjacent to fourth face F4 and interconnected by fifteenth revolute pair Q15, sixth side Z6 is adjacent to first face F1 and interconnected by sixteenth revolute pair Q16; the first side Z1 is adjacent to the second side Z2 and interconnected by a seventeenth revolute pair Q17, the second side Z2 is adjacent to the third side Z3 and interconnected by an eighteenth revolute pair Q18, the third side Z3 is adjacent to the fourth side Z4 and interconnected by a nineteenth revolute pair Q19, the fourth side Z4 is adjacent to the fifth side Z5 and interconnected by a twentieth revolute pair Q20, the fifth side Z5 is adjacent to the sixth side Z6 and interconnected by a twenty-first revolute pair Q21, and the sixth side Z6 is adjacent to the first side Z1 and interconnected by a twelfth revolute pair Q22.

In the integral folding and unfolding process of the structure, the second revolute pair Q2, the fourth revolute pair Q4, the eighteenth revolute pair Q18 and the twenty-first revolute pair Q21 are always in the same plane, and the integral folding and unfolding process is carried out around a reference plane formed by the plane. When folded, the first face F1 and the fourth face F4, the second face F2 and the third face F3, the fifth face F5 and the twelfth face F12, the sixth face F6 and the eleventh face F11, the seventh face F7 and the tenth face F10, the eighth face F8 and the ninth face F9, the fifteenth face F15 and the fourteenth face F14, and the sixteenth face F16 and the thirteenth face F13 move in a face-to-face symmetric relationship based on the reference plane; when the foldable toy is folded, the first rotating pair Q1 and the third rotating pair Q3, the fifth rotating pair Q5 and the eighth rotating pair Q8, the sixth rotating pair Q6 and the seventh rotating pair Q7, the tenth rotating pair Q10 and the ninth rotating pair Q9, the eleventh rotating pair Q11 and the fourteenth rotating pair Q14, the twelfth rotating pair Q12 and the thirteenth rotating pair Q13, the sixteenth rotating pair Q16 and the fifteenth rotating pair Q15, the seventeenth rotating pair Q17 and the nineteenth rotating pair Q19, and the twenty-second rotating pair Q22 and the twentieth rotating pair Q20 are in a plane symmetry relationship based on a reference plane.

In this embodiment, the second side Z2 is coplanar with the third side Z3 when the collapsible box structure is in the fully expanded state, together forming one side of a pentagonal prism structure.

In the above-described face connection manner, the embodiment can be folded into a polygonal planar structure, as shown in fig. 6-3; the folding process and sequence are shown in fig. 6-4 to 6-5, with fig. 6-4 showing the intermediate state of folding and fig. 6-5 showing the fully folded state.

The present invention is not limited to the above-described embodiments. The foregoing description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above specific embodiments are merely illustrative and not restrictive. Those skilled in the art can make many changes and modifications to the invention without departing from the spirit and scope of the invention as defined in the appended claims.

Claims

1. A foldable box structure with symmetrically arranged revolute pairs is characterized by comprising sixteen surfaces, namely a first surface, a second surface, a third surface, a fourth surface, a fifth surface, a sixth surface, a seventh surface, an eighth surface, a ninth surface, a tenth surface, a thirteenth surface, a tenth surface, a fifteenth surface and a twelfth surface in sequence;

the first surface, the second surface, the third surface and the fourth surface are connected to be used as the bottom surface of the foldable box structure and are placed in the middle; the fifth surface, the sixth surface, the seventh surface, the eighth surface, the ninth surface, the tenth surface, the thirteenth surface, the fourteenth surface and the sixteenth surface are sequentially connected to form six side surfaces of the foldable and unfoldable box structure, the fifth surface is connected with the sixth surface to form the first side surface, the seventh surface is connected with the eighth surface to form the second side surface, the ninth surface is connected with the tenth surface to form the third side surface, the tenth surface is connected with the twelfth surface to form the fourth side surface, the thirteenth surface is connected with the fourteenth surface to form the fifth side surface, and the fifteenth surface is connected with the sixteenth surface to form the sixth side surface; the first side surface, the second side surface, the third side surface, the fourth side surface, the fifth side surface and the sixth side surface are arranged above the bottom surface and are connected with six sides of the bottom surface, and the six side surfaces are sequentially connected;

2. A foldable and unfoldable box structure with symmetrically arranged revolute pairs according to claim 1, characterized in that, in the case of complete folding into a plane, all revolute pair axes are on the same plane; in the fully unfolded state, a prismatic box structure is formed; the outer contour line of each face is a straight line, a curved line or a broken line.

3. A foldable box structure with symmetrically arranged revolute pairs according to claim 1 or 2, wherein the foldable box structure has a single degree of freedom, and can realize the mutual conversion between a spatial structure and a planar polygonal structure by changing the included angle between adjacent surfaces.

4. A foldable box structure with symmetrically arranged revolute pairs according to claim 1 or 2, wherein the foldable box structure is a box structure with a polygon as a bottom surface and a height equal to or less than the side length of the bottom surface in a fully unfolded state, and is a polygon plane structure in a fully folded state.

5. A foldable and unfoldable box structure with symmetrically arranged revolute pairs according to claim 1 or 2, characterized in that all revolute pairs are formed by one of hinges, hinges or bearings.