A soft and hard combination printing device for 3D printing scoliosis orthosis

Abstract

The present invention provides a soft-hard combination printing device for 3D printing scoliosis orthosis, which relates to the technical field of printing devices, and comprises a frame cabin and a dual nozzle system arranged on the frame cabin, a multi-axis motion platform, an intelligent control system, a material replacement and storage module and an environmental control system. The dual nozzle system is lifted and arranged above the interior of the frame cabin, and the dual nozzle system comprises a hard material nozzle and a soft material nozzle. The present invention adopts dual nozzle collaborative printing, which is respectively suitable for the melt extrusion of nylon-like wire and silicone material, and realizes the alternating or simultaneous deposition of soft and hard materials at designated positions by controlling and coordinating the motion trajectory and working state of the hard material nozzle and the soft material nozzle. The hard support material and the soft buffer material can be deposited synchronously in the same printing process to form a seamlessly integrated composite structure with complementary performance, and no later assembly is required to construct a scoliosis orthosis with a complex internal structure and a precise soft-hard transition layer.

Description

Technical Field

[0001] The present invention relates to the technical field of printing equipment, and in particular to a soft-hard combined printing equipment for 3D printing scoliosis orthosis. Background Art

[0002] With the rapid development of 3D printing technology, its application in the medical field is becoming more and more extensive, especially in the customized production of scoliosis orthoses. Existing 3D printing technologies, such as Selective Laser Sintering (SLS) and Fused Deposition Modeling (FDM), have been able to realize the design and manufacture of personalized orthoses based on patient CT / MRI data. These orthoses precisely fit the patient's spinal contour, provide effective support and pressure distribution, help improve scoliosis, relieve pain, delay disease progression, and improve the patient's quality of life.

[0003] Although existing 3D printing technology has achieved remarkable results in the customization of scoliosis orthoses, the following technical problems are common:

[0004] Single material selection: Traditional 3D printing equipment can usually only process a single type of printing material, and cannot simultaneously generate structures with different hardness, elasticity and comfort in the same printing job. The ideal design of a scoliosis orthosis requires sufficient rigid support in key load-bearing areas, while using flexible and comfortable soft materials in parts that contact the skin, need to adapt to body curves or absorb shock. Single-material printing equipment cannot meet this demand for a combination of hard and soft materials, resulting in limited functionality and wearing comfort of the orthosis;

[0005] Post-processing is complex and ineffective: To achieve the combination of soft and hard materials, existing technologies often rely on splicing soft and hard parts by bonding, embedding, etc. after printing. This method not only increases the manufacturing steps and prolongs the production cycle, but also the mechanical properties of the joints are often uneven, which easily leads to stress concentration and affects the overall strength and durability of the orthosis. In addition, the joints may cause skin irritation, wear and other problems, reducing the patient's wearing experience;

[0006] Therefore, the present invention proposes a soft-hard combined printing device for 3D printing scoliosis orthosis to solve the problems existing in the prior art. Summary of the invention

[0007] In response to the above problems, the present invention proposes a soft-hard combined printing device for 3D printing scoliosis orthosis. The soft-hard combined printing device for 3D printing scoliosis orthosis can simultaneously deposit hard supporting materials and soft buffer materials in the same printing process to form a seamlessly integrated, performance-complementary composite structure without the need for subsequent assembly, thereby constructing a scoliosis orthosis with a complex internal structure and a precise soft-hard transition layer.

[0008] To achieve the purpose of the present invention, the present invention is implemented by the following technical solutions: a soft-hard combination printing device for 3D printing scoliosis orthosis, including a frame cabin and a dual nozzle system, a multi-axis motion platform, an intelligent control system, a material replacement and storage module and an environmental control system arranged on the frame cabin, the dual nozzle system is lifted and arranged above the inside of the frame cabin, and the dual nozzle system includes a hard material nozzle and a soft material nozzle, which are respectively used to print nylon hard materials and silicone soft materials, an auxiliary nozzle is arranged between the hard material nozzle and the soft material nozzle, and the auxiliary nozzle is used to spray glue, silicone treatment agent and nylon surface modifier, the multi-axis motion platform is arranged below the inside of the frame cabin, and the multi-axis motion platform includes an XY axis motion system and a printing bed arranged on the XY axis motion system, the material replacement and storage module is arranged above the frame cabin, and the material replacement and storage module is used to feed the dual nozzle system;

[0009] The intelligent control system and environmental control system are both arranged on one side of the frame cabin. The environmental control system is used to control the temperature and humidity inside the frame cabin, and the intelligent control system is used to coordinate the operating parameters of the dual nozzle system and control the deposition sequence, layer thickness and filling mode of soft and hard materials.

[0010] A further improvement is that an electric telescopic rod is provided above the interior of the frame cabin, and a turntable is rotatably provided at the output end of the electric telescopic rod, and the dual nozzle system is provided below the turntable.

[0011] A further improvement is that both the hard material nozzle and the soft material nozzle are equipped with a heating element, a temperature controller, a wire feeding mechanism and a pressure regulating device for melting and extruding the materials.

[0012] A further improvement is that the material replacement and storage module includes a hard material feeder, a soft material feeder, and an auxiliary material feeder. The hard material feeder is used to store and supply nylon-like hard materials, the soft material feeder is used to store and supply silicone soft materials, and the auxiliary material feeder is used to store and supply glue, silicone treatment agent and nylon surface modifier. The output ends of the hard material feeder, soft material feeder and auxiliary material feeder are respectively connected to the hard material nozzle, soft material nozzle and auxiliary nozzle through conduits.

[0013] A further improvement is that: the hard material feeder, the soft material feeder and the auxiliary material feeder are all provided with a constant temperature and humidity control module inside.

[0014] A further improvement is that the XY axis motion system includes an X axis guide rail, a slide plate and a Y axis guide rail, the slide plate is movably arranged above the X axis guide rail, the Y axis guide rail is arranged above the slide plate, and the print bed is movably arranged above the Y axis guide rail.

[0015] A further improvement is that the intelligent control system includes a shell, an inner module, a display screen and a touch panel, and the display screen and the touch panel are both arranged at the front end of the shell.

[0016] Further improvements are as follows: the inner module is arranged inside the outer shell, and the inner module has a built-in intelligent printing path planning and control algorithm, which is used to build a dedicated printing path planning software according to the design requirements of the orthosis, control the deposition sequence, layer thickness, and filling mode parameters of soft and hard materials, provide hard support in stress concentration areas, provide soft cushioning in the part that contacts human skin, and automatically adjust the printing speed and temperature parameters of the dual nozzle system.

[0017] A further improvement is that the environmental control system includes an outer compartment, a temperature controller and a humidity controller, the outer compartment is connected to the frame compartment, the temperature controller and the humidity controller are arranged inside the outer compartment, and the temperature controller and the humidity controller control the temperature and humidity inside the frame compartment.

[0018] A further improvement is that a door is provided at the front end of the frame cabin, and a visual window is provided on the door.

[0019] The beneficial effects of the present invention are:

[0020] 1. The present invention adopts dual-nozzle collaborative printing, which is respectively suitable for the melt extrusion of nylon-like filaments and silicone materials. By precisely controlling and coordinating the motion trajectory and working state of the hard material nozzle and the soft material nozzle, the alternating or simultaneous deposition of soft and hard materials at specified positions is achieved. The hard support material and the soft cushioning material can be deposited synchronously in the same printing process to form a seamlessly integrated composite structure with complementary performance. No later assembly is required, and a scoliosis orthosis with a complex internal structure and a precise soft-hard transition layer is constructed, which significantly improves the structural integrity and functional diversity of the orthosis.

[0021] 2. The present invention sprays glue, silicone treatment agent and nylon surface modifier through an auxiliary nozzle, and uses the silicone treatment agent to coat the surface of the silicone printing layer before it is cured, so as to activate the chemical bonds on the silicone surface and enhance its bonding performance with the nylon layer printed at the same time. The nylon surface modifier is used to improve the microstructure of the printed surface of the nylon wire, improve the direct bonding force with the silicone material, or enhance its adhesion to the subsequent adhesive, so as to ensure that the hard and soft materials are chemically bonded or physically combined with high strength during the printing process, eliminate the weak links at the joints, improve the overall load-bearing capacity and service life of the orthosis, and avoid the discomfort of wearing or the decline of the orthotic effect due to poor joining.

[0022] 3. The present invention has an intelligent printing path planning and control algorithm. According to the design requirements of the orthosis, a dedicated printing path planning software is developed to reasonably arrange the deposition sequence, layer thickness, filling mode and other parameters of the soft and hard materials to ensure that sufficient hard support is provided in the stress concentration area, and a soft and comfortable cushion is provided in the part that contacts the human skin. The software should also be able to automatically adjust parameters such as printing speed and temperature to adapt to the process requirements when switching between soft and hard materials.

[0023] 4. The soft-hard combined printing equipment and supporting bonding technology provided by the present invention will significantly improve the manufacturing accuracy, personalization and overall performance of scoliosis orthoses. Through integrated printing, not only the production process of orthoses is simplified and the manufacturing cycle is shortened, but also the service life of orthoses will be extended due to the reliable bonding between soft and hard materials, and the comfort and orthopedic effect of patients will be improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a front view of the present invention;

[0025] Figure 2 This is a schematic diagram of the interior of the frame cabin of the present invention;

[0026] Figure 3 It is a schematic diagram of the dual nozzle system of the present invention.

[0027] Among them: 1. Frame cabin; 2. Dual nozzle system; 3. Intelligent control system; 4. Environmental control system; 5. Hard material nozzle; 6. Soft material nozzle; 7. Auxiliary nozzle; 8. Print bed; 9. Electric telescopic rod; 10. Turntable; 11. Hard material feeder; 12. Soft material feeder; 13. Auxiliary material feeder; 14. X-axis guide rail; 15. Slide plate; 16. Y-axis guide rail; 17. Display screen; 18. Touch panel; 19. Cabin door. DETAILED DESCRIPTION

[0028] In order to deepen the understanding of the present invention, the present invention will be further described in detail below in conjunction with examples. The examples are only used to explain the present invention and do not constitute a limitation on the protection scope of the present invention.

[0029] Embodiment 1

[0030] according to Figure 1 , 2 As shown in Figure 3, this embodiment proposes a soft-hard combination printing device for 3D printing scoliosis orthosis, including a frame cabin 1 and a dual nozzle system 2 arranged on the frame cabin 1, a multi-axis motion platform, an intelligent control system 3, a material replacement and storage module and an environmental control system 4, the dual nozzle system 2 is lifted and arranged above the inside of the frame cabin 1, and the dual nozzle system 2 includes a hard material nozzle 5 and a soft material nozzle 6, which are respectively used to print nylon hard materials and silicone soft materials, an auxiliary nozzle 7 is provided between the hard material nozzle 5 and the soft material nozzle 6, and the auxiliary nozzle 7 is used to spray glue, silicone treatment agent and nylon surface modifier, the multi-axis motion platform is arranged at the bottom of the frame cabin 1, and the multi-axis motion platform includes an XY axis motion system and a printing bed 8 arranged on the XY axis motion system, the material replacement and storage module is arranged above the frame cabin 1, and the material replacement and storage module is used to feed the dual nozzle system 2;

[0031] The intelligent control system 3 and the environmental control system 4 are both arranged on one side of the frame cabin 1. The environmental control system 4 is used to control the temperature and humidity inside the frame cabin 1. The intelligent control system 3 is used to coordinate the operating parameters of the dual nozzle system 2 and control the deposition sequence, layer thickness, and filling mode of the soft and hard materials. The dual nozzle collaborative printing is used, which is suitable for the melt extrusion of nylon-like wire and silicone material respectively. By precisely controlling and coordinating the motion trajectory and working state of the hard material nozzle 5 and the soft material nozzle 6, the alternating or simultaneous deposition of soft and hard materials at the specified position is realized. The hard support material and the soft buffer material can be deposited synchronously in the same printing process to form a seamlessly integrated composite structure with complementary performance. No later assembly is required to construct a scoliosis orthosis with a complex internal structure and a precise soft and hard transition layer, which significantly improves the structural integrity and functional diversity of the orthosis.

[0032] An electric telescopic rod 9 is provided above the interior of the frame cabin 1 , and a turntable 10 is rotatably provided at the output end of the electric telescopic rod 9 , and the dual nozzle system 2 is provided below the turntable 10 .

[0033] The hard material nozzle 5 and the soft material nozzle 6 are both equipped with a heating element, a temperature controller, a wire feeding mechanism and a pressure regulating device for melting and extruding the materials.

[0034] The material replacement and storage module includes a hard material feeder 11, a soft material feeder 12, and an auxiliary material feeder 13. The hard material feeder 11 is used to store and supply nylon-like hard materials, the soft material feeder 12 is used to store and supply silicone soft materials, and the auxiliary material feeder 13 is used to store and supply glue, silicone treatment agent and nylon surface modifier. The output ends of the hard material feeder 11, the soft material feeder 12, and the auxiliary material feeder 13 are respectively connected to the hard material nozzle 5, the soft material nozzle 6 and the auxiliary nozzle 7 through conduits.

[0035] The hard material feeder 11 , the soft material feeder 12 , and the auxiliary material feeder 13 are all provided with constant temperature and humidity control modules inside.

[0036] The XY axis motion system includes an X axis guide rail 14 , a slide plate 15 and a Y axis guide rail 16 . The slide plate 15 is movably disposed above the X axis guide rail 14 , the Y axis guide rail 16 is disposed above the slide plate 15 , and the print bed 8 is movably disposed above the Y axis guide rail 16 .

[0037] The intelligent control system comprises a housing, an inner module, a display screen 17 and a touch panel 18, wherein the display screen 17 and the touch panel 18 are both arranged at the front end of the housing.

[0038] The inner module is arranged inside the outer shell, and the inner module has built-in intelligent printing path planning and control algorithms, which are used to build dedicated printing path planning software according to the design requirements of the orthosis, control the deposition sequence, layer thickness, and filling mode parameters of soft and hard materials, provide hard support in the stress concentration area, provide soft buffer in the part contacting the human skin, and automatically adjust the printing speed and temperature parameters of the dual nozzle system 2. Adapt to the process requirements when switching between soft and hard materials.

[0039] The environmental control system 4 includes an outer chamber, a temperature controller and a humidity controller, the outer chamber is connected to the frame chamber 1, the temperature controller and the humidity controller are arranged inside the outer chamber, and the temperature controller and the humidity controller control the temperature and humidity inside the frame chamber 1. Provide a stable printing environment for soft and hard materials to prevent environmental factors from affecting the melting, curing and bonding properties of the materials.

[0040] The front end of the frame cabin 1 is provided with a cabin door 19, and the cabin door 19 is provided with a viewing window, which is convenient for opening and personnel observation.

[0041] Embodiment 2

[0042] according to Figure 1 , 2 As shown in , 3, this embodiment proposes a soft-hard combination printing device for 3D printing scoliosis orthosis:

[0043] Overall equipment frame: the overall shape of the equipment, including the base, pillars, stabilizing structure, etc., forming a stable frame cabin1;

[0044] Print bed 8: In the center of the bottom of the device, draw a horizontal rectangular area to represent the print bed, and indicate its guide rail or slider structure that can move along the X-axis and Y-axis. It includes an XYZ three-axis motion system with a high-precision stepper motor drive, which can accurately move the nozzle along the preset path for material deposition. The print bed 8 has sufficient load-bearing capacity and stability to support the printing of large orthotics. The X-axis and Y-axis motion mechanisms of the print bed 8 can use arrows or gear icons to represent the drive motors and transmission components, as well as the electric telescopic rod 9 of the print head in the Z-axis direction;

[0045] Dual nozzle system 2: Above the print bed 8, draw a print head structure with two parallel nozzles. The two nozzles are distinguished and labeled as "hard material nozzle 5" and "soft material nozzle 6", indicating that they can extrude 3D printing materials of different hardness. They are used to print nylon hard materials and silicone soft materials respectively. Each set of nozzles is equipped with corresponding heating elements, temperature controllers, wire feeding mechanisms (for wires), and pressure regulating devices to ensure accurate melting and stable extrusion of each material;

[0046] An auxiliary nozzle 7 is provided between the double nozzles, and the auxiliary nozzle is embedded in the print head, which can simultaneously spray glue, silicone treatment agent and nylon surface modifier during the printing process to promote the interface bonding between materials of different hardness;

[0047] On the frame cabin 1 facing upward from the print head, there is a material replacement and storage module. The hard material feeder 11 is used to store and supply nylon-like hard materials, the soft material feeder 12 is used to store and supply silicone soft materials, and the auxiliary material feeder 13 is used to store and supply glue, silicone treatment agent and nylon surface modifier. The output ends of the hard material feeder 11, soft material feeder 12 and auxiliary material feeder 13 are respectively connected to the hard material nozzle 5, soft material nozzle 6 and auxiliary nozzle 76 through conduits. The equipment is equipped with a convenient material replacement system, which allows for quick switching of wires or replacement of silicone barrels. The material storage area maintains a constant temperature and humidity to protect the material properties from environmental influences;

[0048] On one side or in an appropriate location of the device, depict a control panel icon containing a display screen, buttons or a touch panel to represent the operation and monitoring center of the device. You can add a power plug symbol, cooling fan icon, safety switch logo, etc. to reflect the power supply, heat dissipation and safety measures of the device, and label key components, motion axes, interfaces, etc. with text, such as "X-axis", "Y-axis", "Z-axis", "power interface", etc., to facilitate understanding of the functions of each part.

[0049] Intelligent control system 3: including hardware control circuit and software control system, responsible for coordinating the working status, motion path, temperature, speed and other parameters of the dual nozzles to ensure that the soft and hard materials are deposited in sequence or simultaneously at the predetermined position. The software should have a user-friendly graphical interface, allowing designers to input or import orthotic 3D models, and automatically optimize parameters such as printing path, layer thickness, and filling mode.

[0050] Environmental control system 4: including temperature and humidity adjustment devices, providing a stable printing environment for soft and hard materials, and preventing environmental factors from affecting the melting, curing and bonding properties of the materials.

[0051] Nylon-like filaments: Choose nylon-like materials with good mechanical properties, biocompatibility and printing suitability, such as PA12, PA6, etc. Optimize printing parameters such as temperature, speed, layer thickness, etc. to reduce the gaps between printed layers (honeycomb structure) and improve surface flatness. If necessary, add surface modifiers to the filaments to further improve the bonding performance with silicone.

[0052] Silicone material: Choose medical grade silicone with suitable rheological properties, curing speed and biocompatibility. Adjust the printing temperature and extrusion speed to ensure that the silicone melts evenly, extrudes smoothly and maintains good mechanical properties after curing. For special silicone materials, customized nozzle design may be required to adapt to its melting characteristics and extrusion requirements.

[0053] Printing process and path planning:

[0054] Model import and slicing: Designers use dedicated software to import or create a 3D model of the scoliosis orthosis, and the software automatically performs pre-processing steps such as model repair, support generation, and slicing.

[0055] Soft and hard material allocation and path planning: The software automatically allocates the distribution of soft and hard materials in various parts according to the functional requirements and mechanical properties of the orthosis, and generates a detailed dual-nozzle collaborative printing path. Path planning should consider factors such as transition layer design, layer thickness consistency, and filling mode when switching materials to ensure seamless integration between soft and hard materials.

[0056] Printing parameter setting: Set the printing temperature, speed, extrusion volume, layer thickness and other parameters of each material, as well as special process steps such as nozzle switching timing and surface treatment agent coating timing.

[0057] Surface treatment and bonding:

[0058] Silicone surface treatment: Before or after the silicone print layer is cured, the machine automatically performs the surface treatment agent coating procedure. Through the integrated spray or brush device, K770 silicone treatment agent or other similar products are evenly applied to activate the silicone surface and enhance its bonding performance with the subsequent nylon layer or special glue.

[0059] Nylon surface modification: When printing the nylon layer, if you need to further improve the bonding effect with silicone, the equipment can have a built-in nylon surface modifier spray device, or automatically adjust the extrusion parameters during the printing process (such as lowering the temperature, increasing the extrusion pressure) to improve the nylon surface microstructure and enhance the bonding performance.

[0060] Adhesive (glue) application: When necessary, the equipment can apply special adhesive between the soft and hard material layers or on the surface to ensure a solid connection between the soft and hard materials. The selection of adhesive, coating timing and thickness should be automatically executed by the control system according to preset parameters.

[0061] Post-processing and quality inspection:

[0062] Post-processing: After printing is completed, the device automatically performs post-processing steps such as support removal, grinding, and cleaning to ensure that the surface of the orthosis is smooth and residue-free, meeting the requirements for use.

[0063] Quality inspection: Use the built-in 3D scanning module or external inspection equipment to inspect the dimensional accuracy, surface quality, and bonding strength of soft and hard materials of the printed orthosis to ensure that the product meets the design standards and medical specifications.

[0064] Through the above steps, the soft-hard combined 3D printing device of the present invention can manufacture scoliosis orthoses that meet personalized needs in an integrated and high-precision manner. The soft and hard materials are firmly bonded and have excellent performance, which significantly improves the use effect of the orthosis and the comfort of the patient.

[0065] The hard-soft combination printing device for 3D printing scoliosis orthosis adopts dual-nozzle collaborative printing, which is respectively suitable for the melt extrusion of nylon-like filaments and silicone materials. By precisely controlling and coordinating the motion trajectory and working state of the hard material nozzle 5 and the soft material nozzle 6, the alternating or simultaneous deposition of soft and hard materials at specified positions is achieved. The hard support material and the soft cushioning material can be deposited synchronously in the same printing process to form a seamlessly integrated composite structure with complementary performance. No later assembly is required, and a scoliosis orthosis with a complex internal structure and a precise hard-soft transition layer is constructed, which significantly improves the structural integrity and functional diversity of the orthosis. The present invention sprays glue, silicone treatment agent and nylon surface modifier through the auxiliary nozzle 7, and uses the silicone treatment agent to coat the surface of the silicone printing layer before curing, activates the chemical bond on the silicone surface, and enhances its bonding performance with the nylon layer printed at the same time. The nylon surface modifier is used to improve the microstructure of the printed surface of the nylon wire, improves the direct bonding force with the silicone material, or enhances its adhesion to the subsequent adhesive, ensures that the hard and soft materials are chemically bonded or physically combined with high strength during the printing process, eliminates the weak links at the joints, improves the overall load-bearing capacity and service life of the orthosis, and avoids the discomfort caused by poor joints. Wearing discomfort or decreased orthopedic effect. At the same time, the present invention has an intelligent printing path planning and control algorithm. According to the design requirements of the orthosis, a dedicated printing path planning software is developed to reasonably arrange the deposition sequence, layer thickness, filling mode and other parameters of soft and hard materials to ensure that sufficient hard support is provided in the stress concentration area, and soft and comfortable buffer is provided in the part that contacts the human skin. The software should also be able to automatically adjust the printing speed, temperature and other parameters to adapt to the process requirements when switching between soft and hard materials. Finally, the soft-hard combined printing equipment and supporting bonding technology provided by the present invention will significantly improve the manufacturing accuracy, degree of personalization and overall performance of scoliosis orthoses. Through integrated printing, not only the production process of orthoses is simplified and the manufacturing cycle is shortened, but also the reliable bonding between soft and hard materials will extend the service life of orthoses and improve the patient's wearing comfort and orthopedic effect.

[0066] The above shows and describes the basic principles, main features and advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A soft-hard combination printing device for 3D printing scoliosis orthosis, comprising a frame cabin (1) and a dual nozzle system (2) arranged on the frame cabin (1), a multi-axis motion platform, an intelligent control system (3), a material replacement and storage module and an environmental control system (4), characterized in that: The dual nozzle system (2) is arranged at the top of the frame cabin (1) for lifting, and the dual nozzle system (2) includes a hard material nozzle (5) and a soft material nozzle (6), which are respectively used for printing nylon hard material and silicone soft material. An auxiliary nozzle (7) is arranged between the hard material nozzle (5) and the soft material nozzle (6), and the auxiliary nozzle (7) is used for spraying glue, silicone treatment agent and nylon surface modifier. The multi-axis motion platform is arranged at the bottom of the frame cabin (1), and the multi-axis motion platform includes an XY axis motion system and a printing bed (8) arranged on the XY axis motion system. The material replacement and storage module is arranged above the frame cabin (1), and the material replacement and storage module is used for supplying materials to the dual nozzle system (2); The intelligent control system (3) and the environmental control system (4) are both arranged on one side of the frame cabin (1); the environmental control system (4) is used to control the temperature and humidity inside the frame cabin (1); and the intelligent control system (3) is used to coordinate the operating parameters of the dual nozzle system (2) and control the deposition sequence, layer thickness, and filling mode of soft and hard materials.

2. A soft-hard combination printing device for 3D printing scoliosis orthosis according to claim 1, characterized in that: An electric telescopic rod (9) is arranged above the interior of the frame cabin (1), and a turntable (10) is rotatably arranged at the output end of the electric telescopic rod (9), and the dual nozzle system (2) is arranged below the turntable (10).

3. The hard-soft printing device for 3D printing scoliosis orthosis according to claim 2, characterized in that: The hard material nozzle (5) and the soft material nozzle (6) are both equipped with a heating element, a temperature controller, a wire feeding mechanism and a pressure regulating device, and are used to melt and extrude the materials.

4. The hard-soft printing device for 3D printing scoliosis orthosis according to claim 1, characterized in that: The material replacement and storage module comprises a hard material feeder (11), a soft material feeder (12), and an auxiliary material feeder (13); the hard material feeder (11) is used to store and supply nylon-like hard materials; the soft material feeder (12) is used to store and supply silicone soft materials; the auxiliary material feeder (13) is used to store and supply glue, silicone treatment agent, and nylon surface modifier; the output ends of the hard material feeder (11), the soft material feeder (12), and the auxiliary material feeder (13) are respectively connected to the hard material nozzle (5), the soft material nozzle (6), and the auxiliary nozzle (7) through conduits.

5. The soft-hard combination printing device for 3D printing scoliosis orthosis according to claim 4, characterized in that: The hard material feeder (11), the soft material feeder (12) and the auxiliary material feeder (13) are all provided with constant temperature and humidity control modules inside.

6. The hard-soft printing device for 3D printing scoliosis orthosis according to claim 1, characterized in that: The XY axis motion system comprises an X axis guide rail (14), a slide plate (15) and a Y axis guide rail (16); the slide plate (15) is movably arranged above the X axis guide rail (14); the Y axis guide rail (16) is arranged above the slide plate (15); and the printing bed (8) is movably arranged above the Y axis guide rail (16).

7. The hard-soft printing device for 3D printing scoliosis orthosis according to claim 1, characterized in that: The intelligent control system comprises a housing, an inner module, a display screen (17) and a touch panel (18), wherein the display screen (17) and the touch panel (18) are both arranged at the front end of the housing.

8. The hard-soft printing device for 3D printing scoliosis orthosis according to claim 7, characterized in that: The inner module is arranged inside the outer shell, and has a built-in intelligent printing path planning and control algorithm, which is used to build a dedicated printing path planning software according to the design requirements of the orthosis, control the deposition sequence, layer thickness, and filling mode parameters of soft and hard materials, provide hard support in the stress concentration area, provide soft cushioning in the part that contacts the human skin, and automatically adjust the printing speed and temperature parameters of the dual nozzle system (2).

9. The hard-soft printing device for 3D printing scoliosis orthosis according to claim 1, characterized in that: The environmental control system (4) comprises an outer compartment, a temperature controller and a humidity controller. The outer compartment is connected to the frame compartment (1). The temperature controller and the humidity controller are arranged inside the outer compartment, and the temperature controller and the humidity controller control the temperature and humidity inside the frame compartment (1).

10. The hard-soft printing device for 3D printing scoliosis orthosis according to claim 1, characterized in that: The front end of the frame cabin (1) is provided with a cabin door (19), and the cabin door (19) is provided with a visual window.

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