CN111846510A - A foldable and unfoldable box structure with symmetrical arrangement of rotation pairs - Google Patents

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

A foldable and unfoldable box structure with symmetrical arrangement of rotation pairs

technical field

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

Background technique

In aerospace, building structure, transportation, art and daily life, polyhedral structure is widely used because of its good symmetry, but due to the limitation of large volume and unfavorable transportation, polyhedral structure is more used in fixed occasion. The CubeSat, which was rated as one of the top ten scientific and technological breakthroughs in 2014 by SCIENCE journal, is a typical representative of the pursuit of miniaturization and low-cost launch in the aerospace field, but its narrow working space in orbit also restricts its further application.

The space body-shaped foldable and expandable structure is a new type of structure born with the development of aerospace technology. It is in a folded and stored state during the launch and return recovery process, occupying the least space of the spacecraft; after entering orbit, the body can be folded and expanded. The structure can be expanded into a working state with a larger space according to the design. The basic unit of the space expandable structure adopts an over-constrained mechanism, which has the advantages of high rigidity, simple manufacturing, low cost and high reliability.

Existing containers either cannot be folded, occupying a lot of space when empty, which brings great difficulties to storage and transportation; or the folding process is complicated, the structure has many degrees of freedom, and the folding and unfolding process is not easy to control, as proposed by Ma Zhiyong in 2019 foldable container.

Therefore, the body-shaped expandable structure, especially the prismatic structure with the polygon as the bottom surface, is still relatively rarely used, and there are shortcomings such as not being able to be fully folded and the folding-expanding ratio is not large. room for application improvement.

SUMMARY OF THE INVENTION

The purpose of the present invention is to overcome the deficiencies in the prior art, and to provide a foldable and unfoldable box structure in which the rotational pairs are symmetrically arranged. The expandable box structure has good rigidity and can be completely folded and unfolded. When folded, the volume is small, the shape is regular, and it is easy to transport. When it is opened to the working state as required, it has a large working space; The structural unit is a flat or curved plate, which is easy to process and can realize mass production; based on the above advantages, the present invention has great significance in many fields such as packaging, storage, container transportation, civil structure, aerospace and so on. Broad application prospects.

The purpose of this invention is to realize through the following technical solutions:

A foldable and unfoldable box structure with symmetrical arrangement of rotation pairs, comprising sixteen faces, which are the first face, the second face, the third face, the fourth face, the fifth face, the sixth face, the seventh face, the The eighth side, the ninth side, the tenth side, the eleventh side, the twelfth side, the thirteenth side, the fourteenth side, the fifteenth side, the sixteenth side;

The first side, the second side, the third side, and the fourth side are connected as the bottom side of the foldable and unfoldable box structure and placed in the middle; the fifth side, the sixth side, the seventh side, the eighth side, the first side The nine, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, and sixteenth sides are connected in sequence to form the six sides of the foldable box structure. The fifth surface is connected with the sixth surface to form a first side surface, the seventh surface is connected with the eighth surface to form a second side surface, the ninth surface is connected with the tenth surface to form a third side surface, and the eleventh surface is connected to form a third side surface. Connect with the twelfth side to form the fourth side, the thirteenth side and the fourteenth side are connected to form the fifth side, the fifteenth side and the sixteenth side are connected to form the sixth side; the first side , the second side, the third side, the fourth side, the fifth side, and the sixth side are placed above the bottom surface and are connected with the six sides of the bottom surface, and the six sides are connected end to end;

The first surface is adjacent to the second surface and connected to each other by the first rotating pair, the second surface is adjacent to the third surface and connected to each other through the second rotating pair, and the third surface is connected to the fourth surface. Adjacent and connected to each other through the third rotating pair, the first surface is adjacent to the fourth surface and connected to each other through the fourth rotating pair; the fifth surface is adjacent to the sixth surface and connected to each other through the fifth rotating pair, The seventh surface is adjacent to the eighth surface and is connected to each other through the sixth rotating pair, the ninth surface is adjacent to the tenth surface and is connected to each other through the seventh rotating pair, and the eleventh surface is connected to the twelfth surface. The faces are adjacent and connected to each other through the eighth rotation pair, the thirteenth face is adjacent to the fourteenth face and connected to each other through the ninth rotation pair, and the fifteenth face is adjacent to the sixteenth face and is connected to each other through the thirteenth face. Ten rotating pairs are connected to each other; the first side surface is adjacent to the first surface and is connected to each other through the eleventh rotating pair, the second side surface is adjacent to the second surface and connected to each other through the twelfth rotating pair, the said The third side is adjacent to the third side and connected to each other by the thirteenth rotation pair, the fourth side is adjacent to the fourth side and connected to each other by the fourteenth rotation pair, and the fifth side is connected to the fourth side Adjacent and connected to each other through the fifteenth rotation pair, the sixth side is adjacent to the first side and connected to each other through the sixteenth rotation pair; the first side is adjacent to the second side and is connected to each other through the seventeenth rotation pair connected to each other, the second side is adjacent to the third side and is connected to each other through the eighteenth rotation pair, the third side is adjacent to the fourth side and is connected to each other through the nineteenth rotation pair, the fourth side Adjacent to the fifth side and connected to each other by the twentieth rotation pair, the fifth side is adjacent to the sixth side and connected to each other by the twenty-first rotation pair, the sixth side is adjacent to the first side and connected to each other. connected to each other through the twenty-second rotating pair;

During the entire folding and unfolding process of the structure, the second rotating pair, the fourth rotating pair, the eighteenth rotating pair, and the twenty-first rotating pair are always in the same plane, and the overall structure surrounds the reference plane formed by the plane. Fold and unfold; when folded, the first side and the fourth side, the second side and the third side, the fifth side and the twelfth side, the sixth side and the eleventh side, the seventh side and the tenth side The movements of the plane, the eighth plane and the ninth plane, the fifteenth plane and the fourteenth plane, and the sixteenth plane and the thirteenth plane are in plane-symmetric relationship based on the reference plane; 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 The 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 form a plane based on the reference plane Symmetrical relationship.

Further, in the case of being completely folded into a plane, all the secondary axes of rotation are on the same plane; in the case of being fully unfolded, a prismatic box structure is formed; the outer contour of each surface is a straight line, a curve or a polyline.

Further, the foldable and expandable box structure has a single degree of freedom, and can realize the mutual conversion between the spatial body-like structure and the planar polygonal structure by changing the included angle of the adjacent surfaces.

Further, the fully unfolded state of the foldable and unfoldable box structure is a box structure with a polygon as the bottom surface and the height is equal to or less than the side length of the bottom surface, and the fully folded state is a polygonal plane structure.

Further, all rotating pairs are constituted by one of hinges, hinges or bearings.

Compared with the prior art, the beneficial effects brought by the technical solution of the present invention are:

1. The present invention has a large expansion ratio, and can be directly folded into a planar polygonal structure from a prismatic structure with a polygonal bottom surface, which can achieve complete folding.

2. The present invention has one degree of freedom through the design of the space mechanism, can complete the folding and unfolding actions through a single drive, is convenient to install and use, and has reliable movement.

3. The present invention is designed for the purpose of functionality, the size of the unit structure can be designed according to the actual needs, the size of the rotating pair can be adjusted according to the requirements, the installation and drive position can be arbitrarily selected under the actual requirements, and the surface can be arbitrarily set according to the actual needs. shape of the void.

4. The present invention is a straight prism structure after unfolding, the side of the prism is perpendicular to the bottom surface, the structure is stable, the rigidity is large, and the working space is large, which is convenient for support and work; after folding, the volume is small, the shape is regular, and the structure is stable, which is convenient for transportation and storage. .

5. The present invention has a simple structure, and can be connected by a rotating pair at the connection between the adjacent two surfaces, and there is no need to install other connection structures in the surface, which can increase the stability of installation and manipulation.

Description of drawings

1-1 is a schematic diagram of the fully unfolded state of the foldable and unfoldable box structure in the first embodiment. The fully unfolded state of the structure is a box structure with a regular hexagon as the bottom surface and the height equal to the side length of the bottom surface.

Fig. 1-2 is the plan development view of the box structure of the embodiment one;

1-3 are schematic diagrams of a plane polygonal structure when the box structure is fully folded according to the first embodiment.

Fig. 1-4 and Fig. 1-5 are schematic diagrams of the folding sequence of the box structure in the first embodiment, wherein Fig. 1-4 shows the intermediate state of folding, and Fig. 1-5 shows the fully folded state.

2-1 is a schematic diagram of the fully unfolded state of the foldable and unfoldable box structure in the second embodiment. The fully unfolded state of the structure is a box structure with a regular pentagon as the bottom surface and the height equal to the side length of the bottom surface.

Figure 2-2 is a plan development view of the box structure of the second embodiment;

2-3 is a schematic diagram of a plane polygonal structure when the box structure of the second embodiment is completely folded.

Fig. 2-4 and Fig. 2-5 are schematic diagrams of the folding sequence of the box structure in the second embodiment, wherein Fig. 2-4 shows the intermediate folded state, and Fig. 2-5 shows the fully folded state.

Figure 3-1 is a schematic diagram of the fully unfolded state of the foldable and unfoldable box structure in the third embodiment. The fully unfolded state of the structure is a box structure with a regular hexagon as the bottom surface and the height equal to the side length of the bottom surface.

Figure 3-2 is a plan development view of the box structure of the third embodiment;

3-3 is a schematic diagram of a plane polygonal structure when the box structure of the third embodiment is completely folded.

Fig. 3-4 and Fig. 3-5 are schematic diagrams of the folding sequence of the box structure in the third embodiment, wherein Fig. 3-4 shows the intermediate state of folding, and Fig. 3-5 shows the fully folded state.

4-1 is a schematic diagram of the fully unfolded state of the foldable and unfoldable box structure in the fourth embodiment. The fully unfolded state of the structure is a box structure with a regular pentagon as the bottom surface and the height equal to the side length of the bottom surface.

Figure 4-2 is a plan development view of the four-box structure of the embodiment;

4-3 is a schematic diagram of a plane polygonal structure when the box structure of the fourth embodiment is completely folded.

Fig. 4-4 and Fig. 4-5 are schematic diagrams of the folding sequence of the box structure according to the fourth embodiment, wherein Fig. 4-4 shows the intermediate folded state, and Fig. 4-5 shows the fully folded state.

5-1 is a schematic diagram of the fully unfolded state of the foldable and unfoldable box structure in the fifth embodiment. The fully unfolded state of the structure is a box structure with a regular hexagon as the bottom surface and the height equal to the side length of the bottom surface.

Figure 5-2 is a plan development view of the box structure of the fifth embodiment;

5-3 is a schematic diagram of a plane polygonal structure when the box structure of the fifth embodiment is completely folded.

Fig. 5-4 and Fig. 5-5 are schematic diagrams of the folding sequence of the box structure in the fifth embodiment, wherein Fig. 5-4 shows the intermediate state of folding, and Fig. 5-5 shows the fully folded state.

6-1 is a schematic diagram of the fully unfolded state of the foldable and unfoldable box structure in the sixth embodiment. The fully unfolded state of the structure is a box structure with a regular pentagon as the bottom surface and the height equal to the side length of the bottom surface.

Figure 6-2 is a plan development view of the box structure of the embodiment six;

6-3 is a schematic diagram of a plane polygonal structure when the box structure of the sixth embodiment is completely folded.

Fig. 6-4 and Fig. 6-5 are schematic diagrams of the folding sequence of the box structure according to the sixth embodiment, wherein Fig. 6-4 shows the intermediate folded state, and Fig. 6-5 shows the fully folded state.

Reference number:

For example one:

A1-first side, A2-second side, A3-third side, A4-fourth side, A5-fifth side, A6-sixth side, A7-seventh side, A8-eighth side, A9- The ninth side, A10-the tenth side, A11-the eleventh side, A12-the twelfth side, A13-the thirteenth side, A14-the fourteenth side, A15-the fifteenth side, A16-the sixteenth side noodle;

U0-bottom side, U1-first side, U2-second side, U3-third side, U4-fourth side, U5-fifth side, U6-sixth side;

L1-first rotation pair, L2-second rotation pair, L3-third rotation pair, L4-fourth rotation pair, L5-fifth rotation pair, L6-sixth rotation pair, L7-seventh rotation pair, L8 -The eighth rotation pair, L9-the ninth rotation pair, L10-the tenth rotation pair, L11-the eleventh rotation pair, L12-the twelfth rotation pair, L13-the thirteenth rotation pair, L14-the fourteenth rotation pair Vice, L15-fifteenth turning pair, L16-sixteenth turning pair, L17-seventeenth turning pair, L18- eighteenth turning pair, L19- nineteenth turning pair, L20-twentieth turning pair, L21- the twenty-first rotation pair, L22- the twenty-second rotation pair.

For example two:

B1-first side, B2-second side, B3-third side, B4-fourth side, B5-fifth side, B6-sixth side, B7-seventh side, B8-eighth side, B9- The ninth side, B10-the tenth side, B11-the eleventh side, B12-the twelfth side, B13-the thirteenth side, B14-the fourteenth side, B15-the fifteenth side, B16-the sixteenth side noodle;

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

M1-first rotation pair, M2-second rotation pair, M3-third rotation pair, M4-fourth rotation pair, M5-fifth rotation pair, M6-sixth rotation pair, M7-seventh rotation pair, M8 -The eighth rotation pair, M9-the ninth rotation pair, M10-the tenth rotation pair, M11-the eleventh rotation pair, M12-the twelfth rotation pair, M13-the thirteenth rotation pair, M14-the fourteenth rotation pair Vice, M15-15th turning pair, M16-16th turning pair, M17-17th turning pair, M18-18th turning pair, M19-19th turning pair, M20- 20th turning pair, M21- the twenty-first rotating pair, M22- the twenty-second rotating pair.

For example three:

C1-first side, C2-second side, C3-third side, C4-fourth side, C5-fifth side, C6-sixth side, C7-seventh side, C8-eighth side, C9- Ninth face, C10- tenth face, C11- eleventh face, C12- twelfth face, C13- thirteenth face, C14- fourteenth face, C15- fifteenth face, C16- sixteenth face noodle;

W0-bottom side, W1-first side, W2-second side, W3-third side, W4-fourth side, W5-fifth side, W6-sixth side;

N1-first rotation pair, N2-second rotation pair, N3-third rotation pair, N4-fourth rotation pair, N5-fifth rotation pair, N6-sixth rotation pair, N7-seventh rotation pair, N8 -The eighth rotation pair, N9-the ninth rotation pair, N10-the tenth rotation pair, N11-the eleventh rotation pair, N12-the twelfth rotation pair, N13-the thirteenth rotation pair, N14-the fourteenth rotation pair Pair, N15-fifteenth rotation pair, N16-sixteenth rotation pair, N17-seventeenth rotation pair, N18- eighteenth rotation pair, N19-nineteenth rotation pair, N20-twentieth rotation pair, N21-21st rotation pair, N22-22nd rotation pair.

For Example Four:

D1-first side, D2-second side, D3-third side, D4-fourth side, D5-fifth side, D6-sixth side, D7-seventh side, D8-eighth side, D9- The ninth side, D10-the tenth side, D11-the eleventh side, D12-the twelfth side, D13-the thirteenth side, D14-the fourteenth side, D15-the fifteenth side, D16-the sixteenth side noodle;

X0-bottom side, X1-first side, X2-second side, X3-third side, X4-fourth side, X5-fifth side, X6-sixth side;

O1-first rotation pair, O2-second rotation pair, O3-third rotation pair, O4-fourth rotation pair, O5-fifth rotation pair, O6-sixth rotation pair, O7-seventh rotation pair, O8 -The eighth rotation pair, O9-the ninth rotation pair, O10-the tenth rotation pair, O11-the eleventh rotation pair, O12-the twelfth rotation pair, O13-the thirteenth rotation pair, O14-the fourteenth rotation pair Vice, O15-fifteenth turning pair, O16-sixteenth turning pair, O17-seventeenth turning pair, O18- eighteenth turning pair, O19- nineteenth turning pair, O20-twentieth turning pair, O21-21st rotation pair, O22-22nd rotation pair.

For example five:

E1-first side, E2-second side, E3-third side, E4-fourth side, E5-fifth side, E6-sixth side, E7-seventh side, E8-eighth side, E9- Ninth face, E10- tenth face, E11- eleventh face, E12-twelfth face, E13-thirteenth face, E14- fourteenth face, E15- fifteenth face, E16- sixteenth face noodle;

Y0-bottom, Y1-first side, Y2-second side, Y3-third side, Y4-fourth side, Y5-fifth side, Y6-sixth side;

P1-first rotation pair, P2-second rotation pair, P3-third rotation pair, P4-fourth rotation pair, P5-fifth rotation pair, P6-sixth rotation pair, P7-seventh rotation pair, P8 -The eighth rotation pair, P9-the ninth rotation pair, P10-the tenth rotation pair, P11-the eleventh rotation pair, P12-the twelfth rotation pair, P13-the thirteenth rotation pair, P14-the fourteenth rotation pair Vice, P15-15th turning pair, P16-16th turning pair, P17-17th turning pair, P18-18th turning pair, P19-19th turning pair, P20-20th turning pair, P21-21st rotation pair, P22-22nd rotation pair.

For Example Six:

F1-first side, F2-second side, F3-third side, F4-fourth side, F5-fifth side, F6-sixth side, F7-seventh side, F8-eighth side, F9- The ninth side, F10-the tenth side, F11-the eleventh side, F12-the twelfth side, F13-the thirteenth side, F14-the fourteenth side, F15-the fifteenth side, F16-the sixteenth side noodle;

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

Q1-first rotation pair, Q2-second rotation pair, Q3-third rotation pair, Q4-fourth rotation pair, Q5-fifth rotation pair, Q6-sixth rotation pair, Q7-seventh rotation pair, Q8 -The eighth rotation pair, Q9-the ninth rotation pair, Q10-the tenth rotation pair, Q11-the eleventh rotation pair, Q12-the twelfth rotation pair, Q13-the thirteenth rotation pair, Q14-the fourteenth rotation pair Vice, Q15-15th turning pair, Q16-16th turning pair, Q17-17th turning pair, Q18-18th turning pair, Q19-19th turning pair, Q20-20th turning pair, Q21-21st rotation pair, Q22-22nd rotation pair.

Detailed ways

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

Example 1:

As shown in Fig. 1-1, a foldable and expandable box structure with symmetrically arranged rotation pairs provided in this embodiment is a box structure with a regular hexagon as the bottom surface and a height equal to the side length of the bottom surface in a fully unfolded state.

As shown in Figure 1-2, the structure shown in this figure is the component composition and plan development view of the foldable and expandable box structure. It includes sixteen faces, which are the first face A1, the second face A2, the third face A3, the fourth face A4, the fifth face A5, the sixth face A6, the seventh face A7, the eighth face A8, and the ninth face Face A9, tenth face A10, eleventh face A11, twelfth face A12, thirteenth face A13, fourteenth face A14, fifteenth face A15, sixteenth face A16.

The first side A1, the second side A2, the third side A3, and the fourth side A4 are connected as the bottom surface U0 of the foldable and unfoldable box structure and are placed in the middle; the fifth side A5, the sixth side A6, the seventh side A7, the third side The eighth side A8, the ninth side A9, the tenth side A10, the eleventh side A11, the twelfth side A12, the thirteenth side A13, the fourteenth side A14, the fifteenth side A15, and the sixteenth side A16 in order Connected as six sides of the foldable box structure, the fifth side A5 is connected with the sixth side A6 to form the first side U1, the seventh side A7 is connected with the eighth side A8 to form the second side U2, and the ninth side A9 is connected with the first side U2. The ten sides A10 are connected to form the third side U3, the eleventh side A11 is connected with the twelfth side A12 to form the fourth side U4, the thirteenth side A13 is connected with the fourteenth side A14 to form the fifth side U5, and the fifteenth side A15 is connected with the sixteenth surface A16 to form a sixth side U6; the first side U1, the second side U2, the third side U3, the fourth side U4, the fifth side U5, and the sixth side U6 are placed above the bottom surface U0 and are connected to the bottom surface U0. The six sides of the bottom surface U0 are connected, and the six side surfaces are connected end to end.

The first surface A1 is adjacent to the second surface A2 and is connected to each other by the first rotation pair L1, the second surface A2 is adjacent to the third surface A3 and is connected to each other by the second rotation pair L2, and the third surface A3 is connected to the fourth surface A4 is adjacent and connected to each other through the third rotation pair L3, the first surface A1 is adjacent to the fourth surface A4 and connected to each other through the fourth rotation pair L4; the fifth surface A5 is adjacent to the sixth surface A6 and is connected to each other through the fifth rotation The pair L5 is connected to each other, the seventh face A7 is adjacent to the eighth face A8 and is connected to each other by the sixth rotational pair L6, the ninth face A9 is adjacent to the tenth face A10 and is connected to each other by the seventh rotational pair L7, the eleventh The face A11 is adjacent to the twelfth face A12 and is connected to each other through the eighth rotation pair L8, the thirteenth face A13 is adjacent to the fourteenth face A14 and is connected to each other through the ninth rotation pair L9, and the fifteenth face A15 is connected to the thirteenth face A15. The sixteen faces A16 are adjacent and connected to each other through the tenth rotation pair L10; the first side U1 is adjacent to the first face A1 and is connected to each other through the eleventh rotation pair L11, and the second side U2 is adjacent to the second face A2 and is connected to each other. The twelfth rotation pair L12 is connected to each other, the third side U3 is adjacent to the third surface A3 and is connected to each other through the thirteenth rotation pair L13, the fourth side U4 is adjacent to the fourth surface A4 and is connected to each other through the fourteenth rotation pair L14 is connected to each other, the fifth side U5 is adjacent to the fourth surface A4 and is connected to each other through the fifteenth rotation pair L15, the sixth side U6 is adjacent to the first surface A1 and is connected to each other through the sixteenth rotation pair L16; the first The side U1 is adjacent to the second side U2 and is connected to each other by the seventeenth rotation pair L17, the second side U2 is adjacent to the third side U3 and is connected to each other by the eighteenth rotation pair L18, the third side U3 and the fourth side U4 is adjacent and connected to each other through the nineteenth rotation pair L19, the fourth side U4 is adjacent to the fifth side U5 and is connected to each other through the twentieth rotation pair L20, and the fifth side U5 is adjacent to the sixth side U6 and is connected to each other through the twentieth rotation pair U5. The twenty-first rotation pair L21 is connected to each other, and the sixth side surface U6 is adjacent to the first side surface U1 and is connected to each other through the twenty-second rotation pair L22.

During the entire folding and unfolding process of the structure, the second rotating pair L2, the fourth rotating pair L4, the eighteenth rotating pair L18, and the twenty-first rotating pair L21 are always on the same plane, and the overall folding and unfolding process revolves around This plane forms the reference plane. When folded, the first side A1 and the fourth side A4, the second side A2 and the third side A3, the fifth side A5 and the twelfth side A12, the sixth side A6 and the eleventh side A11, and the seventh side The movements of A7 and the tenth plane A10, the eighth plane A8 and the ninth plane A9, the fifteenth plane A15 and the fourteenth plane A14, and the sixteenth plane A16 and the thirteenth plane A13 are in plane symmetry based on the reference plane. When folded, the first rotating pair L1 and the third rotating pair L3, the fifth rotating pair L5 and the eighth rotating pair L8, the sixth rotating pair L6 and the seventh rotating pair L7, the tenth rotating pair L10 and the ninth rotating pair Rotational pair L9, eleventh rotational pair L11 and fourteenth rotational pair L14, twelfth rotational pair L12 and thirteenth rotational pair L13, sixteenth rotational pair L16 and fifteenth rotational pair L15, and seventeenth rotational pair The pair L17 and the nineteenth rotational pair L19 and the twenty-second rotational pair L22 and the twentieth rotational pair L20 are in a plane-symmetric relationship based on the reference plane.

According to the connection method of the above-mentioned surfaces, the embodiment can be folded into a polygonal plane structure, as shown in Figure 1-3; the folding process and sequence are shown in Figures 1-4 to 1-5, and Figure 1-4 shows the intermediate state of folding, Figures 1-5 show the fully folded state.

It can be seen that as long as the above box structure satisfies the above constraints, that is, as long as the connection mode of the rotating pair is satisfied, the folding effect required by the present invention can be achieved, and its structural form and folding method are not affected by the specific structure of the folding unit. The rotating pair is a hinge, a hinge or a bearing; the length of the rotating pair is not limited, as long as it can form a rotating pair and stably connect the structural units; the component surface of each unit is provided with hollows of any shape according to requirements ; The outer contour of each unit can be a straight line, a curved line or a polyline. The foldable and unfoldable box structure of the present invention has a single degree of freedom, and can be folded and unfolded by setting a single drive. Because the box structure proposed by the present invention has the characteristics of single degree of freedom, large expansion ratio, and simple unit structure, it has the advantages of simple installation, convenient operation, easy transportation, etc., and is especially suitable for packaging, storage, civil structure and Applications in aerospace and other fields.

Embodiment 2:

As shown in Figure 2-1, the fully unfolded state of a foldable and expandable box structure with symmetrically arranged rotation pairs provided by this embodiment is a box structure with a regular pentagon as the bottom surface and the height equal to the side length of the bottom surface.

As shown in Figure 2-2, the structure shown in this figure is the component composition and plan development view of the foldable and expandable box structure. It includes sixteen faces, which are the first face B1, the second face B2, the third face B3, the fourth face B4, the fifth face B5, the sixth face B6, the seventh face B7, the eighth face B8, and the ninth face. Surface B9, tenth surface B10, eleventh surface B11, twelfth surface B12, thirteenth surface B13, fourteenth surface B14, fifteenth surface B15, and sixteenth surface B16.

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

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

During the entire folding and unfolding process of the structure, the second rotating pair M2, the fourth rotating pair M4, the eighteenth rotating pair M18, and the twenty-first rotating pair M21 are always on the same plane, and the overall folding and unfolding process revolves around This plane forms the reference plane. When folded, the first surface B1 and the fourth surface B4, the second surface B2 and the third surface B3, the fifth surface B5 and the twelfth surface B12, the sixth surface B6 and the eleventh surface B11, and the seventh surface The movements of B7 and the tenth surface B10, the eighth surface B8 and the ninth surface B9, the fifteenth surface B15 and the fourteenth surface B14, and the sixteenth surface B16 and the thirteenth surface B13 are in a plane-symmetric relationship based on the reference plane. When 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 The rotation pair M9, the eleventh rotation pair M11 and the fourteenth rotation pair M14, the twelfth rotation pair M12 and the thirteenth rotation pair M13, the sixteenth rotation pair M16 and the fifteenth rotation pair M15, the seventeenth rotation pair The pair M17 and the nineteenth rotational pair M19 and the twenty-second rotational pair M22 and the twentieth rotational pair M20 are in a plane-symmetric relationship based on the reference plane.

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

According to the connection method of the above-mentioned surfaces, the embodiment can be folded into a polygonal plane structure, as shown in Figure 2-3; the folding process and sequence are shown in Figures 2-4 to 2-5, and Figure 2-4 shows the intermediate state of folding, Figures 2-5 show the fully folded state.

It can be seen that as long as the above box structure satisfies the above constraints, that is, as long as the connection mode of the rotating pair is satisfied, the folding effect required by the present invention can be achieved, and its structural form and folding method are not affected by the specific structure of the folding unit. The rotating pair is a hinge, a hinge or a bearing; the length of the rotating pair is not limited, as long as it can form a rotating pair and stably connect the structural units; the component surface of each unit is provided with hollows of any shape according to requirements ; The outer contour of each unit can be a straight line, a curved line or a polyline. The foldable and unfoldable box structure of the present invention has a single degree of freedom, and can be folded and unfolded by setting a single drive. Because the box structure proposed by the present invention has the characteristics of single degree of freedom, large expansion ratio, and simple unit structure, it has the advantages of simple installation, convenient operation, easy transportation, etc., and is especially suitable for packaging, storage, civil structure and Applications in aerospace and other fields.

Embodiment three:

As shown in Fig. 3-1, a foldable and expandable box structure with symmetrically arranged rotation pairs provided in this embodiment is a box structure with a regular hexagon as the bottom surface and a height equal to the side length of the bottom surface in a fully unfolded state.

As shown in Figure 3-2, the structure shown in this figure is the component composition and plan development view of the foldable and expandable box structure. It includes sixteen faces, which are the first face C1, the second face C2, the third face C3, the fourth face C4, the fifth face C5, the sixth face C6, the seventh face C7, the eighth face C8, and the ninth face. Face C9, tenth face C10, eleventh face C11, twelfth face C12, thirteenth face C13, fourteenth face C14, fifteenth face C15, sixteenth face C16.

The first side C1, the second side C2, the third side C3, the fourth side C4 are connected as the bottom side W0 of the foldable and unfoldable box structure and are placed in the middle; the fifth side C5, the sixth side C6, the seventh side C7, the third side The eighth side C8, the ninth side C9, the tenth side C10, the eleventh side C11, the twelfth side C12, the thirteenth side C13, the fourteenth side C14, the fifteenth side C15, the sixteenth side C16 in order Connected as six sides of the foldable box structure, the fifth side C5 is connected with the sixth side C6 to form the first side W1, the seventh side C7 is connected with the eighth side C8 to form the second side W2, and the ninth side C9 is connected with the first side W2. The ten sides C10 are connected to form the third side W3, the eleventh side C11 is connected with the twelfth side C12 to form the fourth side W4, the thirteenth side C13 is connected with the fourteenth side C14 to form the fifth side W5, and the fifteenth side C15 is connected with the sixteenth surface C16 to form a sixth side surface W6; 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 placed above the bottom surface W0 and are connected to the bottom surface W0. The six sides of the bottom surface W0 are connected, and the six side surfaces are connected end to end.

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

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

According to the connection method of the above-mentioned surfaces, the embodiment can be folded into a polygonal plane structure, as shown in Figure 3-3; the folding process and sequence are shown in Figure 3-4 to Figure 3-5, Figure 3-4 shows the intermediate state of folding, Figures 3-5 show the fully folded state.

It can be seen that as long as the above box structure satisfies the above constraints, that is, as long as the connection mode of the rotating pair is satisfied, the folding effect required by the present invention can be achieved, and its structural form and folding method are not affected by the specific structure of the folding unit. The rotating pair is a hinge, a hinge or a bearing; the length of the rotating pair is not limited, as long as it can form a rotating pair and stably connect the structural units; the component surface of each unit is provided with hollows of any shape according to requirements ; The outer contour of each unit can be a straight line, a curved line or a polyline. The foldable and unfoldable box structure of the present invention has a single degree of freedom, and can be folded and unfolded by setting a single drive. Because the box structure proposed by the present invention has the characteristics of single degree of freedom, large expansion ratio, and simple unit structure, it has the advantages of simple installation, convenient operation, easy transportation, etc., and is especially suitable for packaging, storage, civil structure and Applications in aerospace and other fields.

Embodiment 4:

As shown in Fig. 4-1, a foldable and expandable box structure with symmetrically arranged rotation pairs provided in this embodiment is a box structure with a regular pentagon as the bottom surface and a height equal to the side length of the bottom surface in a fully unfolded state.

As shown in Figure 4-2, the structure shown in this figure is the component composition and plan development view of the foldable and expandable box structure. It includes sixteen faces, which are the first face D1, the second face D2, the third face D3, the fourth face D4, the fifth face D5, the sixth face D6, the seventh face D7, the eighth face D8, and the ninth face. Surface D9, tenth surface D10, eleventh surface D11, twelfth surface D12, thirteenth surface D13, fourteenth surface D14, fifteenth surface D15, and sixteenth surface D16.

The first surface D1, the second surface D2, the third surface D3, and the fourth surface D4 are connected as the bottom surface X0 of the foldable and unfoldable box structure and are placed in the middle; the fifth surface D5, the sixth surface D6, the seventh surface D7, the first surface The eighth side D8, the ninth side D9, the tenth side D10, the eleventh side D11, the twelfth side D12, the thirteenth side D13, the fourteenth side D14, the fifteenth side D15, and the sixteenth side D16 in order Connected as six sides of the foldable box structure, the fifth side D5 is connected with the sixth side D6 to form the first side X1, the seventh side D7 is connected with the eighth side D8 to form the second side X2, and the ninth side D9 is connected with the first side X2. The ten sides D10 are connected to form the third side X3, the eleventh side D11 is connected with the twelfth side D12 to form the fourth side X4, the thirteenth side D13 is connected with the fourteenth side D14 to form the fifth side X5, and the fifteenth side D15 is connected with the sixteenth surface D16 to form the sixth side X6; the first side X1, the second side X2, the third side X3, the fourth side X4, the fifth side X5, and the sixth side X6 are placed above the bottom surface X0 and are connected to the bottom surface X0. The six sides of the bottom surface X0 are connected, and the six side surfaces are connected end to end.

The first surface D1 is adjacent to the second surface D2 and connected to each other by the first rotating pair O1, the second surface D2 is adjacent to the third surface D3 and connected to each other by the second rotating pair O2, and the third surface D3 is connected to the fourth surface D4 is adjacent and connected to each other through the third rotation pair O3, the first surface D1 is adjacent to the fourth surface D4 and is connected to each other through the fourth rotation pair O4; the fifth surface D5 is adjacent to the sixth surface D6 and is connected to each other through the fifth rotation The pair O5 is connected to each other, the seventh face D7 is adjacent to the eighth face D8 and is connected to each other by the sixth rotational pair O6, the ninth face D9 is adjacent to the tenth face D10 and is connected to each other by the seventh rotational pair O7, the eleventh The surface D11 is adjacent to the twelfth surface D12 and is connected to each other by the eighth rotation pair O8, the thirteenth surface D13 is adjacent to the fourteenth surface D14 and is connected to each other by the ninth rotation pair O9, and the fifteenth surface D15 is connected to the 14th surface D14. The sixteen faces D16 are adjacent and connected to each other through the tenth rotation pair O10; the first side X1 is adjacent to the first face D1 and is connected to each other through the eleventh rotation pair O11, and the second side X2 is adjacent to the second face D2 and is connected to each other. The twelfth rotation pair O12 is connected to each other, the third side X3 is adjacent to the third surface D3 and is connected to each other through the thirteenth rotation pair O13, the fourth side X4 is adjacent to the fourth surface D4 and is connected to each other through the fourteenth rotation pair O14 is connected to each other, the fifth side X5 is adjacent to the fourth surface D4 and is connected to each other through the fifteenth rotation pair O15, the sixth side X6 is adjacent to the first surface D1 and is connected to each other through the sixteenth rotation pair O16; the first The side X1 is adjacent to the second side X2 and is connected to each other by the seventeenth rotation pair O17, the second side X2 is adjacent to the third side X3 and is connected to each other by the eighteenth rotation pair O18, the third side X3 and the fourth side X4 is adjacent and connected to each other through the nineteenth rotation pair O19, the fourth side X4 is adjacent to the fifth side X5 and is connected to each other through the twentieth rotation pair O20, and the fifth side X5 is adjacent to the sixth side X6 and is connected to each other through the twentieth rotation pair O20. The twenty-one rotation pairs O21 are connected to each other, and the sixth side surface X6 is adjacent to the first side surface X1 and is connected to each other through the twenty-second rotation pair O22.

During the entire folding and unfolding process of the structure, the second rotating pair O2, the fourth rotating pair O4, the eighteenth rotating pair O18, and the twenty-first rotating pair O21 are always on the same plane, and the overall folding and unfolding process revolves around The reference plane formed by this plane is carried out. When folded, 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, and the seventh surface The movements of 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 plane-symmetric relationship based on the reference plane When folded, the first rotating pair O1 and the third rotating pair O3, the fifth rotating pair O5 and the eighth rotating pair O8, the sixth rotating pair O6 and the seventh rotating pair O7, the tenth rotating pair O10 and the ninth rotating pair Rotating pair O9, eleventh rotating pair O11 and fourteenth rotating pair O14, twelfth rotating pair O12 and thirteenth rotating pair O13, sixteenth rotating pair O16 and fifteenth rotating pair O15, seventeenth rotating pair The pair O17 and the nineteenth rotational pair O19 and the twenty-second rotational pair O22 and the twentieth rotational pair O20 are in a plane-symmetric relationship based on the reference plane.

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

According to the connection method of the above surfaces, the embodiment can be folded into a polygonal plane structure, as shown in Figure 4-3; the folding process and sequence are shown in Figure 4-4 to Figure 4-5, Figure 4-4 shows the intermediate state of folding, Figures 4-5 show the fully folded state.

It can be seen that as long as the above box structure satisfies the above constraints, that is, as long as the connection mode of the rotating pair is satisfied, the folding effect required by the present invention can be achieved, and its structural form and folding method are not affected by the specific structure of the folding unit. The rotating pair is a hinge, a hinge or a bearing; the length of the rotating pair is not limited, as long as it can form a rotating pair and stably connect the structural units; the component surface of each unit is provided with hollows of any shape according to requirements ; The outer contour of each unit can be a straight line, a curved line or a polyline. The foldable and unfoldable box structure of the present invention has a single degree of freedom, and can be folded and unfolded by setting a single drive. Because the box structure proposed by the present invention has the characteristics of single degree of freedom, large expansion ratio, and simple unit structure, it has the advantages of simple installation, convenient operation, easy transportation, etc., and is especially suitable for packaging, storage, civil structure and Applications in aerospace and other fields.

Embodiment 5:

As shown in Figure 5-1, the fully unfolded state of a foldable and expandable box structure with symmetrically arranged rotation pairs provided by this embodiment is a box structure with a regular hexagon as the bottom surface and the height equal to the side length of the bottom surface.

As shown in Figure 5-2, the structure shown in this figure is the component composition and plan development view of the foldable and expandable box structure. It includes sixteen faces, which are the first face E1, the second face E2, the third face E3, the fourth face E4, the fifth face E5, the sixth face E6, the seventh face E7, the eighth face E8, and the ninth face. The surface E9, the tenth surface E10, the eleventh surface E11, the twelfth surface E12, the thirteenth surface E13, the fourteenth surface E14, the fifteenth surface E15, and the sixteenth surface E16.

The first side E1, the second side E2, the third side E3 and the fourth side E4 are connected as the bottom side Y0 of the foldable and unfoldable box structure and are placed in the middle; the fifth side E5, the sixth side E6, the seventh side E7, the first side The eighth side E8, the ninth side E9, the tenth side E10, the eleventh side E11, the twelfth side E12, the thirteenth side E13, the fourteenth side E14, the fifteenth side E15, and the sixteenth side E16 in order Connected as six sides of the foldable box structure, the fifth side E5 is connected with the sixth side E6 to form the first side Y1, the seventh side E7 is connected with the eighth side E8 to form the second side Y2, and the ninth side E9 is connected with the first side Y2. The ten sides E10 are connected to form the third side Y3, the eleventh side E11 is connected with the twelfth side E12 to form the fourth side Y4, the thirteenth side E13 is connected with the fourteenth side E14 to form the fifth side Y5, and the fifteenth side E15 is connected with the sixteenth surface E16 to form a sixth side Y6; the first side Y1, the second side Y2, the third side Y3, the fourth side Y4, the fifth side Y5, and the sixth side Y6 are placed above the bottom surface Y0 and are connected to the bottom surface Y0. The six sides of the bottom surface Y0 are connected, and the six side surfaces are connected end to end.

The first surface E1 is adjacent to the second surface E2 and is connected to each other through the first rotating pair P1, the second surface E2 is adjacent to the third surface E3 and is connected to each other through the second rotating pair P2, and the third surface E3 and the fourth surface E4 is adjacent and connected to each other through the third rotation pair P3, the first surface E1 is adjacent to the fourth surface E4 and is connected to each other through the fourth rotation pair P4; the fifth surface E5 is adjacent to the sixth surface E6 and is connected to each other through the fifth rotation The pair P5 is connected to each other, the seventh face E7 is adjacent to the eighth face E8 and is connected to each other by the sixth rotational pair P6, the ninth face E9 is adjacent to the tenth face E10 and is connected to each other by the seventh rotational pair P7, the eleventh The surface E11 is adjacent to the twelfth surface E12 and is connected to each other by the eighth rotation pair P8, the thirteenth surface E13 is adjacent to the fourteenth surface E14 and is connected to each other by the ninth rotation pair P9, and the fifteenth surface E15 is connected to the 14th surface E14. The sixteen faces E16 are adjacent to each other and are connected to each other through the tenth rotation pair P10; the first side face Y1 is adjacent to the first face E1 and is connected to each other through the eleventh rotation pair P11, and the second side face Y2 is adjacent to the second face E2 and is connected to each other. The twelfth rotation pair P12 is connected to each other, the third side Y3 is adjacent to the third surface E3 and is connected to each other through the thirteenth rotation pair P13, and the fourth side Y4 is adjacent to the fourth surface E4 and is connected to each other through the fourteenth rotation pair P14 is connected to each other, the fifth side Y5 is adjacent to the fourth surface E4 and is connected to each other through the fifteenth rotation pair P15, the sixth side Y6 is adjacent to the first surface E1 and is connected to each other through the sixteenth rotation pair P16; the first The side Y1 is adjacent to the second side Y2 and is connected to each other through the seventeenth rotation pair P17, the second side Y2 is adjacent to the third side Y3 and is connected to each other through the eighteenth rotation pair P18, the third side Y3 and the fourth side Y4 is adjacent and connected to each other through the nineteenth rotation pair P19, the fourth side Y4 is adjacent to the fifth side Y5 and is connected to each other through the twentieth rotation pair P20, the fifth side Y5 is adjacent to the sixth side Y6 and is connected to each other through the twentieth rotation pair P20. The twenty-one rotation pairs P21 are connected to each other, and the sixth side surface Y6 is adjacent to the first side surface Y1 and connected to each other through the twenty-second rotation pair P22.

During the entire folding and unfolding process of the structure, the second rotating pair P2, the fourth rotating pair P4, the eighteenth rotating pair P18, and the twenty-first rotating pair P21 are always on the same plane, and the overall folding and unfolding process revolves around This plane forms the reference plane. When folded, the first side E1 and the fourth side E4, the second side E2 and the third side E3, the fifth side E5 and the twelfth side E12, the sixth side E6 and the eleventh side E11, the seventh side The movements of E7 and the tenth surface E10, the eighth surface E8 and the ninth surface E9, the fifteenth surface E15 and the fourteenth surface E14, and the sixteenth surface E16 and the thirteenth surface E13 are in a plane-symmetric relationship based on the reference plane. When folded, the first rotating pair P1 and the third rotating pair P3, the fifth rotating pair P5 and the eighth rotating pair P8, the sixth rotating pair P6 and the seventh rotating pair P7, the tenth rotating pair P10 and the ninth rotating pair Rotating pair P9, eleventh rotating pair P11 and fourteenth rotating pair P14, twelfth rotating pair P12 and thirteenth rotating pair P13, sixteenth rotating pair P16 and fifteenth rotating pair P15, seventeenth rotating pair The pair P17 and the nineteenth rotational pair P19 and the twenty-second rotational pair P22 and the twentieth rotational pair P20 are in a plane-symmetric relationship based on the reference plane.

According to the connection method of the above-mentioned surfaces, the embodiment can be folded into a polygonal plane structure, as shown in Figure 5-3; the folding process and sequence are shown in Figure 5-4 to Figure 5-5, Figure 5-4 shows the intermediate state of folding, Figures 5-5 show the fully folded state.

It can be seen that as long as the above box structure satisfies the above constraints, that is, as long as the connection mode of the rotating pair is satisfied, the folding effect required by the present invention can be achieved, and its structural form and folding method are not affected by the specific structure of the folding unit. The rotating pair is a hinge, a hinge or a bearing; the length of the rotating pair is not limited, as long as it can form a rotating pair and stably connect the structural units; the component surface of each unit is provided with hollows of any shape according to requirements ; The outer contour of each unit can be a straight line, a curved line or a polyline. The foldable and unfoldable box structure of the present invention has a single degree of freedom, and can be folded and unfolded by setting a single drive. Because the box structure proposed by the present invention has the characteristics of single degree of freedom, large expansion ratio, and simple unit structure, it has the advantages of simple installation, convenient operation, easy transportation, etc., and is especially suitable for packaging, storage, civil structure and Applications in aerospace and other fields.

Embodiment 6:

As shown in Fig. 6-1, a foldable and expandable box structure with symmetrically arranged rotation pairs provided by this embodiment is a box structure with a regular pentagon as the bottom surface and a height equal to the side length of the bottom surface in a fully unfolded state.

As shown in Figure 6-2, the structure shown in this figure is the component composition and plan development view of the foldable and expandable box structure. It includes sixteen faces, which are the first face F1, the second face F2, the third face F3, the fourth face F4, the fifth face F5, the sixth face F6, the seventh face F7, the eighth face F8, and the ninth face. Face F9, tenth face F10, eleventh face F11, twelfth face F12, thirteenth face F13, fourteenth face F14, fifteenth face F15, and sixteenth face F16.

The first surface F1, the second surface F2, the third surface F3, and the fourth surface F4 are connected as the bottom surface Z0 of the foldable and expandable box structure and are placed in the middle; the fifth surface F5, the sixth surface F6, the seventh surface F7, the third surface The eighth side F8, the ninth side F9, the tenth side F10, the eleventh side F11, the twelfth side F12, the thirteenth side F13, the fourteenth side F14, the fifteenth side F15, and the sixteenth side F16 in order Connected as six sides of the foldable box structure, the fifth side F5 is connected with the sixth side F6 to form the first side Z1, the seventh side F7 is connected with the eighth side F8 to form the second side Z2, and the ninth side F9 is connected with the first side Z2. The ten sides F10 are connected to form the third side Z3, the eleventh side F11 is connected with the twelfth side F12 to form the fourth side Z4, the thirteenth side F13 is connected with the fourteenth side F14 to form the fifth side Z5, and the fifteenth side F15 is connected with the sixteenth surface F16 to form a sixth side Z6; the first side Z1, the second side Z2, the third side Z3, the fourth side Z4, the fifth side Z5, and the sixth side Z6 are placed above the bottom surface Z0 and are connected to the bottom surface Z0. The six sides of the bottom surface Z0 are connected, and the six side surfaces are connected end to end.

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

During the entire folding and unfolding process of the structure, the second rotating pair Q2, the fourth rotating pair Q4, the eighteenth rotating pair Q18, and the twenty-first rotating pair Q21 are always on the same plane, and the overall folding and unfolding process revolves around This plane forms the reference plane. When folded, the first surface F1 and the fourth surface F4, the second surface F2 and the third surface F3, the fifth surface F5 and the twelfth surface F12, the sixth surface F6 and the eleventh surface F11, and the seventh surface The movements of F7 and the tenth surface F10, the eighth surface F8 and the ninth surface F9, the fifteenth surface F15 and the fourteenth surface F14, and the sixteenth surface F16 and the thirteenth surface F13 are in a plane-symmetric relationship based on the reference plane. When 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 Rotary pair Q9, eleventh rotational pair Q11 and fourteenth rotational pair Q14, twelfth rotational pair Q12 and thirteenth rotational pair Q13, sixteenth rotational pair Q16 and fifteenth rotational pair Q15, and seventeenth rotational pair The pair Q17 and the nineteenth rotational pair Q19, and the twenty-second rotational pair Q22 and the twentieth rotational pair Q20 are in a plane-symmetric relationship based on the reference plane.

In this embodiment, when the foldable and unfoldable box structure is in a fully unfolded state, the second side Z2 and the third side Z3 are coplanar, and together form one side of the pentagonal prism structure.

According to the connection method of the above-mentioned surfaces, the embodiment can be folded into a polygonal plane structure, as shown in Figure 6-3; the folding process and sequence are shown in Figure 6-4 to Figure 6-5, and Figure 6-4 shows the intermediate state of folding, Figures 6-5 show the fully folded state.

It can be seen that as long as the above box structure satisfies the above constraints, that is, as long as the connection mode of the rotating pair is satisfied, the folding effect required by the present invention can be achieved, and its structural form and folding method are not affected by the specific structure of the folding unit. The rotating pair is a hinge, a hinge or a bearing; the length of the rotating pair is not limited, as long as it can form a rotating pair and stably connect the structural units; the component surface of each unit is provided with hollows of any shape according to requirements ; The outer contour of each unit may be a straight line, a curved line or a polyline. The foldable and unfoldable box structure of the present invention has a single degree of freedom, and can be folded and unfolded by setting a single drive. Because the box structure proposed by the present invention has the characteristics of single degree of freedom, large expansion ratio, and simple unit structure, it has the advantages of simple installation, convenient operation, easy transportation, etc., and is especially suitable for packaging, storage, civil structure and Applications in aerospace and other fields.

The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention, and the above-mentioned specific embodiments are only illustrative and not restrictive. Without departing from the spirit of the present invention and the protection scope of the claims, those of ordinary skill in the art can also make many specific transformations under the inspiration of the present invention, which all fall within the protection scope of the present invention.

Claims (5)

1. a foldable unfolding box structure symmetrically arranged by a pair of rotations, is characterized in that, comprises sixteen faces, successively the first face, the second face, the third face, the fourth face, the fifth face, the sixth face face, seventh face, eighth face, ninth face, tenth face, eleventh face, twelfth face, thirteenth face, fourteenth face, fifteenth face, sixteenth face; The first side, the second side, the third side, and the fourth side are connected as the bottom side of the foldable and unfoldable box structure and placed in the middle; the fifth side, the sixth side, the seventh side, the eighth side, the first side The nine, tenth, eleventh, twelfth, thirteenth, fourteenth, fifteenth, and sixteenth sides are connected in sequence to form the six sides of the foldable box structure. The fifth surface is connected with the sixth surface to form a first side surface, the seventh surface is connected with the eighth surface to form a second side surface, the ninth surface is connected with the tenth surface to form a third side surface, and the eleventh surface is connected to form a third side surface. Connect with the twelfth side to form the fourth side, the thirteenth side and the fourteenth side are connected to form the fifth side, the fifteenth side and the sixteenth side are connected to form the sixth side; the first side , the second side, the third side, the fourth side, the fifth side, and the sixth side are placed above the bottom surface and are connected with the six sides of the bottom surface, and the six sides are connected in turn; The first surface is adjacent to the second surface and connected to each other by the first rotating pair, the second surface is adjacent to the third surface and connected to each other through the second rotating pair, and the third surface is connected to the fourth surface. Adjacent and connected to each other through the third rotating pair, the first surface is adjacent to the fourth surface and connected to each other through the fourth rotating pair; the fifth surface is adjacent to the sixth surface and connected to each other through the fifth rotating pair, The seventh surface is adjacent to the eighth surface and is connected to each other through the sixth rotating pair, the ninth surface is adjacent to the tenth surface and is connected to each other through the seventh rotating pair, and the eleventh surface is connected to the twelfth surface. The faces are adjacent and connected to each other through the eighth rotation pair, the thirteenth face is adjacent to the fourteenth face and connected to each other through the ninth rotation pair, and the fifteenth face is adjacent to the sixteenth face and is connected to each other through the thirteenth face. Ten rotating pairs are connected to each other; the first side surface is adjacent to the first surface and is connected to each other through the eleventh rotating pair, the second side surface is adjacent to the second surface and connected to each other through the twelfth rotating pair, the said The third side is adjacent to the third side and connected to each other by the thirteenth rotation pair, the fourth side is adjacent to the fourth side and connected to each other by the fourteenth rotation pair, and the fifth side is connected to the fourth side Adjacent and connected to each other through the fifteenth rotation pair, the sixth side is adjacent to the first side and connected to each other through the sixteenth rotation pair; the first side is adjacent to the second side and is connected to each other through the seventeenth rotation pair connected to each other, the second side is adjacent to the third side and is connected to each other through the eighteenth rotation pair, the third side is adjacent to the fourth side and is connected to each other through the nineteenth rotation pair, the fourth side Adjacent to the fifth side and connected to each other by the twentieth rotation pair, the fifth side is adjacent to the sixth side and connected to each other by the twenty-first rotation pair, the sixth side is adjacent to the first side and connected to each other. connected to each other through the twenty-second rotating pair; During the entire folding and unfolding process of the structure, the second rotating pair, the fourth rotating pair, the eighteenth rotating pair, and the twenty-first rotating pair are always in the same plane, and the overall structure surrounds the reference plane formed by the plane. Fold and unfold; when folded, the first side and the fourth side, the second side and the third side, the fifth side and the twelfth side, the sixth side and the eleventh side, the seventh side and the tenth side The movements of the plane, the eighth plane and the ninth plane, the fifteenth plane and the fourteenth plane, and the sixteenth plane and the thirteenth plane are in plane-symmetric relationship based on the reference plane; 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 The 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 form a plane based on the reference plane Symmetrical relationship. 2. A foldable and unfoldable box structure with symmetrical arrangement of rotation pairs according to claim 1, characterized in that, in the case of being completely folded into a plane, all the axes of rotation pairs are on the same plane; in the case of fully unfolding , forming a prismatic box structure; the outer contour of each face is a straight line, a curve or a polyline. 3. A kind of foldable and unfoldable box structure with symmetrical arrangement of rotation pairs according to claim 1 or 2, is characterized in that, the foldable and unfoldable box structure has a single degree of freedom, and can realize space by changing the included angle of adjacent surfaces Interconversion between body-like structures and planar polygonal structures. 4. The foldable and unfoldable box structure according to claim 1 and 2, characterized in that the fully unfolded state of the foldable and unfoldable box structure is that the polygon is the bottom surface, and the height is equal to or less than the length of the bottom surface. Box structure, the fully folded state is a polygonal plane structure. 5. A foldable and unfoldable box structure with symmetrically arranged rotating pairs according to claim 1 or 2, characterized in that, all rotating pairs are constituted by one of hinges, hinges or bearings.

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