CN117709071A - Method and system for constructing compact space folding array model based on three-pump folding paper - Google Patents

Abstract

The present invention relates to the technical field of folding model construction, and specifically discloses a compact space folding array model construction method and system based on Miura origami. The method includes: building a zero-thickness origami model based on four groups of identical Miura origami; The zero-thickness origami model is processed into a thickened plate to obtain a thickened folding array model; according to the configuration of the thickened folding array model, a four-link linkage device is designed, and the four-linkage linkage is used The device adjusts the degree of freedom of the thickened folding array model from 5 to 1 to obtain a compact space folding array model. The folding array model constructed by the present invention is suitable for various spacecrafts that require large-area planar arrays, has high space utilization and high folding ratio, and can effectively reduce the cost of space missions.

Description

Compact space folding array model construction method and system based on Miura origami

Technical field

The present invention relates to the technical field of folding and unfolding model construction, and in particular to a compact space folding and unfolding array model construction method and system based on Miura origami.

Background technique

From space solar energy utilization to satellite communications, from space station construction to deep space exploration missions, deployable structures play an increasingly important role in aerospace engineering. Among various types of deployable structures, rigid thick plate origami mechanisms have been developed in recent years due to their advantages such as convenient dynamic modeling, less freedom of movement, high surface accuracy, and good rigidity and stability during and after deployment. It has attracted the attention of researchers and has broad application prospects and design potential. The rigid thick plate origami mechanism inherits two characteristic properties of the mathematically ideal zero-thickness origami model: isometricity, that is, the shortest distance between two points on the panel does not change with folding, which is reflected in the design load of the panel in engineering The deformation under is negligible; injectivity, that is, no intersection between panels can occur during the folding process. Under this assumption, the panel is only allowed to rotate along the crease line. However, unlike the zero-thickness origami model, the rigid thick-plate origami mechanism considers the panel to have a limited thickness, and directly applying the motion form of the zero-thickness origami model may cause physical interference. Therefore, rigid thick plate origami mechanisms are usually obtained by applying appropriate thick plate technology on the basis of zero-thickness origami patterns. For example, Resch origami, Flasher origami, Waterboom origami and Miura origami. specifically:

1) Chang Boyan and others constructed two thick plate folding and unfolding units based on Miura origami patterns - Bennett mechanism unit and spherical four-bar mechanism unit, on the premise of ensuring that the mechanism can move from the unfolded state to the collapsed state without physical interference. , with the design goal that the folding and unfolding units can be stacked infinitely, analyze the constraints that the geometric parameters of the components should meet, explain the principles and processes of modularly forming large-scale thick plate Miura folding and unfolding mechanisms, and propose Bennett networking and hybrid networking Two module expansion methods. Large-scale deployable solar wings designed using this model are installed on both sides of the spacecraft. In the unfolded plane, the dimensions of a single solar wing in the fully folded and unfolded states are 1.07m×0.144m and 1.9m×5.2m respectively. The total working area of the solar wing after unfolding is 18.34m2, and the folding ratio is 60 . However, this model suffers from the following shortcomings:

①Irregular shape: In this model, the folded solar wing module is roughly in the shape of a long and flat trapezoidal column, and is mounted on both sides of the spacecraft in the long-side direction. The overall shape of the spacecraft is uneven and its long side is much larger than the other two sides, which makes transportation and loading difficult.

② Low space utilization: In this model, researchers use the unfolded area and folded area of the solar wing itself to calculate the folding ratio. This algorithm lacks practical significance. Because the solar wing and the main body of the spacecraft are connected together during the launch process, the total volume of the two should be calculated. The irregular overall shape of the spacecraft in this plan results in a large proportion of transportation space being wasted no matter what shape of envelope geometry is chosen during loading. This is contrary to the fundamental purpose of the folding and unfolding mechanism.

2) Zirbel et al. and Bolanos et al. thickened Flasher origami and successfully created a folding array model with a high folding area ratio and a high folding diameter ratio. Flasher origami forms a regular polygon after unfolding, and can be tightly wrapped in a cylinder after folding, making it very suitable for use in aerospace fields where space costs are high. Currently, this model has been used in the design of star shields in NASA’s exoplanet exploration missions. However, this model suffers from the following shortcomings:

① Difficult calculation and poor design flexibility: The geometric model of thick-plate Flasher origami is very complex and has many constraints. The node coordinates must be obtained through complex calculations, which cannot provide an intuitive reference for design. On the other hand, many design parameters can only be taken as discrete values, and a model that meets the constraints cannot be derived from the intermediate state, which greatly reduces the design freedom and flexibility.

② Too much freedom and lack of mechanical constraints on the expansion path: The Flasher origami thickening method proposed by Zirbel et al. requires adding creases to the quadrilateral panels, turning the mechanism into a combination of several triangular panels. This method doubles the degree of freedom of the mechanism, and the expansion path is not unique. A suitable driving scheme must be designed to correctly expand the plane. However, there are risks in overly complex drive control. If there is a deviation in the size and sequence of force application, the mechanism may be stuck or torn.

Contents of the invention

In order to solve the above technical problems, the present invention provides a compact space folding array model construction method and system based on Miura origami.

In the first aspect, the present invention provides a method for constructing a compact space folding array model based on Miura origami. The technical solution of the method is as follows:

Based on four sets of identical Miura origami, a zero-thickness origami model is constructed;

Perform thickening processing on the zero-thickness origami model to obtain a thickened folding array model;

According to the configuration of the thickened folding array model, a four-link linkage device is designed, and the four-link linkage device is used to adjust the degree of freedom of the thickened folding array model from 5 to 1. Obtain the compact space folding array model.

The beneficial effects of the compact space folding array model construction method based on Miura origami of the present invention are as follows:

The folding array model constructed by the method of the present invention is suitable for various spacecrafts that require large-area planar arrays, has high space utilization and high folding ratio, and can effectively reduce the cost of space missions.

On the basis of the above solution, the method of constructing a compact space folding array model based on Miura origami of the present invention can also be improved as follows.

In an optional way, the steps to build a zero-thickness origami model based on four sets of identical Miura origami include:

According to the method of rotational symmetry, four groups of identical Miura origami are spliced to obtain the zero-thickness origami model.

In an optional manner, the step of thickening the zero-thickness origami model to obtain a thickened folded array model includes:

The zero-thickness origami model is sequentially subjected to Miura origami thickening processing and five-fold vertex thickening processing to obtain the thickened folding and unfolding array model.

In an optional approach, it also includes:

Based on the type of the target spacecraft, target design parameters of the compact space folding array model are determined, so as to generate a target compact space folding mechanism that conforms to the target spacecraft according to the target design parameters.

In the second aspect, the present invention provides a compact space folding array model construction system based on Miura origami. The technical solution of the system is as follows:

It includes: a first processing module, a second processing module and a third processing module;

The first processing module is used to: build a zero-thickness origami model based on four groups of identical Miura origami;

The second processing module is used to: perform thickening processing on the zero-thickness origami model to obtain a thickened folding and unfolding array model;

The third processing module is used to: design a four-link linkage device according to the configuration of the thickened folding array model, and use the four-link linkage device to fold and unfold the thickened plate. The degree of freedom of the array model is adjusted from 5 to 1 to obtain a compact space folding array model.

The beneficial effects of the compact space folding array model construction system based on Miura origami of the present invention are as follows:

The folding array model constructed by the system of the present invention is suitable for various spacecrafts that require large-area planar arrays, has high space utilization and high folding ratio, and can effectively reduce the cost of space missions.

Based on the above solution, the compact space folding array model construction system based on Miura origami of the present invention can also be improved as follows.

In an optional manner, the first processing module is specifically used to:

According to the method of rotational symmetry, four groups of identical Miura origami are spliced to obtain the zero-thickness origami model.

In an optional manner, the second processing module is specifically used to:

The zero-thickness origami model is sequentially subjected to Miura origami thickening processing and five-fold vertex thickening processing to obtain the thickened folding and unfolding array model.

In an optional manner, it also includes: generating module;

The generation module is configured to: determine the target design parameters of the compact space folding array model based on the type of the target spacecraft, so as to generate a target compact space folding mechanism that conforms to the target spacecraft according to the target design parameters. .

In the third aspect, the technical solution of a storage medium provided by the present invention is as follows:

Instructions are stored in the storage medium. When the computer reads the instructions, the computer is caused to execute the steps of the Miura origami-based compact space folding array model construction method of the present invention.

In the fourth aspect, the technical solution of an electronic device of the present invention is as follows:

It includes a memory, a processor, and a program stored in the memory and run on the processor. When the processor executes the program, it implements the construction of a compact space folding array model based on Miura origami according to the present invention. Method steps.

The above description is only an overview of the technical solution of the present invention. In order to have a clearer understanding of the technical means of the present invention, it can be implemented according to the content of the description, and in order to make the above and other objects, features and advantages of the present invention more obvious and understandable. , the specific embodiments of the present invention are listed below.

Description of the drawings

The drawings are only used to illustrate the embodiments and are not considered to be limitations of the present invention. Also throughout the drawings, the same reference characters are used to designate the same components. In the attached picture:

Figure 1 is a schematic flow chart of an embodiment of a compact space folding array model construction method based on Miura origami according to the present invention;

Figure 2 is a schematic diagram of the zero-thickness origami model;

Figure 3 is a schematic diagram of the definition of rotation axis offset;

Figure 4 is a schematic diagram of the vertex parameters of the five creases of thick plate;

Figure 5 is a cross-sectional view of the four-bar linkage device;

Figure 6 is a schematic diagram of the movement of the four-bar linkage device;

Figure 7 is a schematic diagram of the overall folding state of the compact space folding array model;

Figure 8 is a schematic diagram of the overall unfolded state of the compact space folding array model;

Figure 9 is a schematic structural diagram of an embodiment of a compact space folding array model construction system based on Miura origami according to the present invention.

Detailed ways

Exemplary embodiments of the present invention will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the invention are shown in the drawings, it should be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein.

Figure 1 shows a schematic flow chart of an embodiment of a compact space folding array model construction method based on Miura origami provided by the present invention. As shown in Figure 1, it includes the following steps:

S1. Based on four groups of identical Miura origami, construct a zero-thickness origami model.

Specifically, four groups of identical Miura origami were spliced in a rotationally symmetric manner to obtain a zero-thickness origami model.

Among them, Figure 2 shows a schematic diagram of the zero-thickness origami model, which forms a centrally symmetrical plane, and the frame can be easily connected to the center panel without disturbing the unfolding process. The four Miura origami leaves each occupy a quadrant and do not overlap each other. The frame refers to the part of the spacecraft other than the folding and unfolding plane, which supports and fixes the folding and unfolding plane. In addition, the rack will also have other functions, which are determined according to the mission objectives of the spacecraft. For example, communication satellites will install corresponding communication equipment in the rack, and experimental satellites will install corresponding scientific instruments.

In S1, what needs to be explained is:

1) There are two different ways of connecting the Miura origami blades and the center panel. The folds of Miura origami are arranged in a straight line in one direction (marked in the m direction in Figure 2) and in a zigzag pattern in the other direction (marked in the n direction in Figure 2). If the corner panels of the Miura origami blade are connected to the center panel by creases in the m direction, then the configuration A of the zero-thickness origami model is obtained; if the corner panels are connected to the center panel by creases in the n direction, a zero-thickness origami model is obtained. Configuration B of the model. The number of panels in both directions is variable, denoted M and N respectively, and they do not need to be equal.

2) The distribution of crease types in the two configurations (configuration A and configuration B) is consistent. The corner panels are always connected to the center panel by a mountain crease (a crease that protrudes outward from the paper), while the corner panels and other Miura panels are connected by a valley crease (a crease that is sunk inward from the paper). Other crease types on Miura origami can be determined according to the following rules:

①The uphill creases and valley creases are staggered in the m direction;

②The crease type remains consistent in the n direction;

③The opposite crease types of the same panel are opposite. The reason why the crease type is specified is that only in this folding form can other panels be arranged outside the corner panels after folding, leaving a cuboid space under the center panel to install racks or place other instruments. .

3) By adding two independent triangular panels, the corner panels and center panels of two adjacent Miura origami can be connected to form the five-fold vertex. Starting from the center panel and traversing the five-fold vertex panel clockwise, the fan angles (the angles of two adjacent creases around their intersection vertices) are: 90°, 45°, 45°, 90°, 90°. The Kawasaki–Justin theorem states that the crease pattern can be folded flat only when the staggered sum of the sector angles is equal to 0. So the five crease vertices here won't bring the two Miura origami corner panels together. On the other hand, this vertex is composed of four mountain creases and one valley crease that form cross lines, which conforms to the bird's foot condition pointed out by Abel et al., so it can be proved that this vertex is rigidly foldable. In fact, the five-vertex crease allows the dihedral angle between the corner panels and the center panel of Miura's origami to vary between 90°-180°, while always maintaining diagonal symmetrical movement of the two corner panels with respect to the center panel. Therefore, the four five-fold vertices form a linkage that allows the four Miura origami blades to unfold simultaneously at the same speed.

4) The five-fold vertex requires that the sector angle between the two corner panels and the triangular panel is a right angle, and the Miura origami unit (Miura origami is composed of several parallelogram planes of the same size, and each parallelogram can be regarded as a The Miura origami unit) is composed of a parallelogram, so the shape of the first row of Miura panels near the other blades needed to be modified. The edge of the blade can be brought perpendicular to the crease by expanding the panel. In Figure 2, the edge of the Miura origami before expansion is represented by a dotted line, while the edge after expansion is represented by a solid black line.

5) In Figure 2, the left side shows the fold diagram in the unfolded state. The short dotted line represents the mountain crease, the dotted line represents the valley crease, the long dotted line represents the original boundary line of the Miura origami pattern, and the solid line represents the actual edge of the combined pattern. Line (no motion constraints). The middle is in a half-folded state. The right side is fully folded.

S2. Perform thickening processing on the zero-thickness origami model to obtain a thickened folding and unfolding array model.

Specifically, the zero-thickness origami model is sequentially subjected to Miura origami thickening processing and five-fold vertex thickening processing to obtain a thickened folding and unfolding array model.

1) In S2, the process of Miura origami thickening is as follows:

As shown in Figure 3, a vertex grid V _m,n is established in the m and n directions of Miura origami, and the crease line between the vertices V _m,n and V _m′,n′ is recorded as Assuming that each panel has the same thickness d, the upper and lower surfaces of all panels are respectively coplanar in the fully unfolded state. Therefore, the plane parallel to the upper and lower surfaces and equidistant from the two planes can be defined as the midplane. Rotation axis/> The distance to the midplane is the rotation axis offset/>

when When arranged according to the following rules, the thickened Miura origami can maintain the motion characteristics of the zero-thickness state, that is, single-degree-of-freedom motion without interference:

2) In S2, the process of thickening the five-fold vertex is:

It is easy to prove by using mechanism kinematics that the axially symmetrical five-fold apex can be equivalent to a Myard connecting rod mechanism when the plate is thickened. The Myard link mechanism is a closed-loop 5R over-constrained space mechanism. The configuration and motion of the Myard link mechanism are also axially symmetric and have a single degree of freedom.

In order to make the thickened origami mechanism conform to the characteristics of the Myyard link mechanism, in this embodiment, some modifications are first made to the corner panels of the Miura origami. As shown in Figure 4, assume that the two corner panels and the two triangular panels in the middle have the same plate thickness. The triangular plate is connected to the upper edge of the corner panel, which are designated as the rotating pairs z ₂ and z ₅ . The rotating pair between the two triangular plates is installed on the lower edge, recorded as z ₁ . However, the corner panel is not directly connected to the center panel. Instead, a boss needs to be added to the upper surface of the original corner panel, and then the upper edge of the boss is connected to the center panel. The axes of the connection are z ₃ and z ₄ . In Figure 4, a ₁₂ and a ₅₁ represent the thickness of the original corner panels and triangular panels, and a ₂₃ and a ₄₅ describe the thickness of the boss. These quantities follow the relationship:

a ₁₂ = a ₅₁ ,

According to the crease diagram, it is easy to obtain the installation angle between the connecting rods of the above mechanism:

S3. According to the configuration of the thickened folding array model, design a four-link linkage device, and use the four-link linkage device to adjust the degree of freedom of the thickened folding array model. , a compact space folded array model is obtained.

The specific implementation process of S3 is:

1) The axis A between the innermost panel P _1,1 and the center panel of the configuration B of the thickened folding array model, and the axis between the innermost panel P _1,1 and the next innermost panel P _2,1 B, always parallel during movement. In this embodiment, an axis C is added to the P _2,1 board to make B and C parallel; an axis D is added to the center panel to make A and D parallel; and a connecting rod is used to connect C and D. In this way, the center panel (AD), the innermost panel P _1,1 (AB), the second inner panel P _2,1 (BC) and the new connecting rod CD form a planar four-bar linkage mechanism (four-bar linkage device) , as shown in Figure 5. In this embodiment, a four-link linkage device is used to synchronize the blade rotation and blade expansion of Miura origami to obtain a compact space folding array model.

2) The angle ρ ₁ between AB and AD represents the rotation of the entire blade relative to the center panel, and the angle ρ ₂ between AB and BC represents the expansion of each panel in the blade. From the fully folded state to the fully unfolded state, the entire blade rotates 90° relative to the center panel, and the dihedral angle between the two panels within the blade changes from 0° to 180°. Therefore, the four-bar linkage must have such a property that when ρ ₁ has an increment of 90°, ρ ₂ should have an increment of 180°.

3) In this embodiment, the specific shape of the panel is hidden, and only the movement of the equivalent connecting rod is focused. The AB rod is selected as a fixed reference object to obtain the motion diagram of the four-bar linkage device in Figure 6. ABC ₁ D ₁ represents the four-link in the fully folded state, and ABC ₂ D ₂ represents the four-link in the fully unfolded state. It can be seen that there is a rotation of 180° from BC ₁ to BC ₂ , and a rotation of 90° from AD ₁ to AD ₂ . From Figure 6, the geometric relationships that each parameter of the four-link link should satisfy can be listed:

The solution to the above equation is not unique. In fact, the connecting rod length x has a value range, and for any x within the range, the remaining r ₁ , r ₂ , s can be solved. Different r ₁ and r ₂ represent different positions of axes D and C. In the actual design situation, the positions of D and C can be determined according to engineering needs, and then a suitable set of four-link solutions can be selected.

It should be noted that in this embodiment:

First, four independent single-degree-of-freedom Miura origami blades were constructed using the offset axis method. Secondly, a five-fold apex mechanism is used to ensure that the rotation of the four blade corner panels is synchronized. Finally, a four-bar linkage is used to link the unfolding process of the blades with the rotation of the corner panels. Eventually, the degree of freedom of the entire compact space folding array model is reduced to 1.

Preferably, it also includes:

S4. Based on the type of the target spacecraft, determine the target design parameters of the compact space folding array model, so as to generate a target compact space folding mechanism that conforms to the target spacecraft according to the target design parameters.

Among them, the target spacecraft are various spacecrafts that require large-area planar arrays. The types of target spacecraft include but are not limited to: space exposure experiment platforms, space solar power stations, telescope star shields, and planar synthetic aperture radars.

In S4, the overall folded state of the compact space folding array model is shown in Figure 7, and the overall unfolded state of the compact space folding array model is shown in Figure 8. Define the total width of the model in the folded state as L, the total height as H, the side length of the central column as c, the plate thickness as d, the plate width as b, the plate height as h, and the acute internal angle of the parallelogram panel as φ. Combined with actual needs, it can be determined that the minimum side length of the central column is c _min . Let L, H, d, φ, M, and N be the independent variables (target design parameters). For any set of independent variable parameters that satisfy the following inequality constraints:

A folding and unfolding mechanism that meets the requirements can be constructed, and the mechanism can be tightly embedded into a cuboid with a length, width and height of L×L×H after folding. Other design parameters can be solved using the following equation:

It should be noted that in order to evaluate the storage capacity of the model under different parameter values, the folding ratio ε and space utilization eta are defined as follows:

The calculation formulas for the folding ratio and space utilization of the two configurations are given:

For configuration A:

For configuration B:

Through calculation, it can be found that for most of the target design parameters (L, H, d, φ, M, N), the corresponding mechanism space utilization rate is more than half. Compared with previous folding and unfolding models, the design of this embodiment can utilize the transportation space more effectively.

The compact space folding array model of this embodiment has a regular shape and high space utilization, which can effectively reduce the cost of space missions, and the highly flexible parametric design enables designers to quickly develop customized space equipment according to different mission requirements. Therefore, the technical solution of this embodiment is expected to play an important role in the future national aerospace development and has broad development prospects in the field of space exploration and application.

Figure 9 shows a schematic structural diagram of an embodiment of a compact space folding array model building system 200 based on Miura origami provided by the present invention. As shown in Figure 9, the system 200 includes: a first processing module 210, a second processing module 220 and a third processing module 230;

The first processing module 210 is used to: build a zero-thickness origami model based on four groups of identical Miura origami;

The second processing module 220 is configured to: perform thickening processing on the zero-thickness origami model to obtain a thickened folding array model;

The third processing module 230 is configured to: design a four-bar linkage device according to the configuration of the thickened folding array model, and use the four-bar linkage device to perform the thickened folding array model. The degree of freedom of the expansion array model is adjusted to obtain a compact space expansion array model.

Preferably, the first processing module 210 is specifically used for:

According to the method of rotational symmetry, four groups of identical Miura origami are spliced to obtain the zero-thickness origami model.

Preferably, the second processing module 220 is specifically used for:

The zero-thickness origami model is sequentially subjected to Miura origami thickening processing and five-fold vertex thickening processing to obtain the thickened folding and unfolding array model.

Preferably, it also includes: a generation module;

The generation module is configured to: determine the target design parameters of the compact space folding array model based on the type of the target spacecraft, so as to generate a target compact space folding mechanism that conforms to the target spacecraft according to the target design parameters. .

The folding array model constructed by the technical solution of this embodiment is suitable for various spacecrafts that require large-area planar arrays, has high space utilization and high folding ratio, and can effectively reduce the cost of space missions.

Regarding the steps for implementing the corresponding functions of each parameter and each module in the Miura Origami-based compact space folding array model construction system 200 of this embodiment, please refer to the above article about the Miura Origami-based compact space folding array model construction method. The parameters and steps in the embodiment will not be described again here.

A storage medium provided by an embodiment of the present invention includes: instructions stored in the storage medium. When a computer reads the instructions, the computer is caused to perform steps such as a compact space folding array model construction method based on Miura origami. For details, reference may be made to the various parameters and steps in the above embodiments of the compact space folding array model construction method based on Miura origami, which will not be described again here.

Computer storage media such as USB flash drives, mobile hard drives, etc.

An electronic device provided by an embodiment of the present invention includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it causes the computer to execute a computer program based on For details about the steps of Miura Origami's compact space folding array model construction method, please refer to the parameters and steps in the above embodiment of the Miura Origami based compact space folding array model construction method, and will not be described in detail here.

Those skilled in the art know that the present invention can be implemented as methods, systems, storage media and electronic devices.

Therefore, the present invention can be implemented in the following form, that is, it can be complete hardware, or it can be complete software (including firmware, resident software, microcode, etc.), or it can be a combination of hardware and software. This article generally Called a "circuit", "module" or "system". Furthermore, in some embodiments, the present invention may also be implemented in the form of a computer program product in one or more computer-readable media containing computer-readable program code. Any combination of one or more computer-readable media may be employed. The computer-readable medium may be a computer-readable signal medium or a computer-readable storage medium. The computer-readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination thereof. More specific examples (non-exhaustive list) of computer readable storage media include: electrical connections having one or more conductors, portable computer disks, hard drives, random access memory (RAM), read only memory (ROM), Erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. As used herein, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. Although the embodiments of the present invention have been shown and described above, it can be understood that the above-mentioned embodiments are illustrative and should not be construed as limitations of the present invention. Those of ordinary skill in the art can make modifications to the above-mentioned embodiments within the scope of the present invention. The embodiments are subject to changes, modifications, substitutions and variations.

Claims (10)

1. A compact space folding array model construction method based on Miura origami, which is characterized by including: Based on four sets of identical Miura origami, a zero-thickness origami model is constructed; Perform thickening processing on the zero-thickness origami model to obtain a thickened folding array model; According to the configuration of the thickened folding array model, a four-link linkage device is designed, and the four-link linkage device is used to adjust the degree of freedom of the thickened folding array model from 5 to 1. Obtain the compact space folding array model. 2. The compact space folding array model construction method based on Miura origami according to claim 1, characterized in that the step of constructing a zero-thickness origami model based on four groups of identical Miura origami includes: According to the method of rotational symmetry, four groups of identical Miura origami are spliced to obtain the zero-thickness origami model. 3. The compact space folding array model construction method based on Miura origami according to claim 1, characterized in that the step of thickening the zero-thickness origami model to obtain a thickened folding array model ,include: The zero-thickness origami model is sequentially subjected to Miura origami thickening processing and five-fold vertex thickening processing to obtain the thickened folding and unfolding array model. 4. The compact space folding array model construction method based on Miura origami according to any one of claims 1 to 3, characterized in that it also includes: Based on the type of the target spacecraft, target design parameters of the compact space folding array model are determined, so as to generate a target compact space folding mechanism that conforms to the target spacecraft according to the target design parameters. 5. A compact space folding and unfolding array model construction system based on Miura origami, characterized by including: a first processing module, a second processing module and a third processing module; The first processing module is used to: build a zero-thickness origami model based on four sets of identical Miura origami; The second processing module is used to: perform thickening processing on the zero-thickness origami model to obtain a thickened folding and unfolding array model; The third processing module is used to: design a four-link linkage device according to the configuration of the thickened folding and unfolding array model, and use the four-link linkage device to fold and unfold the thickened plate. The degree of freedom of the array model is adjusted from 5 to 1 to obtain a compact space folding array model. 6. The compact space folding and unfolding array model construction system based on Miura origami according to claim 5, characterized in that the first processing module is specifically used for: According to the method of rotational symmetry, four groups of identical Miura origami are spliced to obtain the zero-thickness origami model. 7. The compact space folding array model construction system based on Miura origami according to claim 5, characterized in that the second processing module is specifically used for: The zero-thickness origami model is sequentially subjected to Miura origami thickening processing and five-fold vertex thickening processing to obtain the thickened folding and unfolding array model. 8. The Miura origami-based compact space folding array model construction system according to any one of claims 5 to 7, characterized in that it further includes: a generation module; The generation module is configured to: determine the target design parameters of the compact space folding array model based on the type of the target spacecraft, so as to generate a target compact space folding mechanism that conforms to the target spacecraft according to the target design parameters. . 9. A storage medium, characterized in that instructions are stored in the storage medium, and when the computer reads the instructions, the computer is caused to execute the Miura origami-based method as described in any one of claims 1 to 4. A compact space folding array model construction method. 10. An electronic device, comprising a memory, a processor and a program stored on the memory and running on the processor, characterized in that when the processor executes the program, it implements claims 1 to 4 The steps of the method for constructing a compact space folding array model based on Miura origami described in any one of the above.