Movable double-layer curved surface skin reconstruction system

Abstract

The invention relates to a movable double-layer curved surface skin reconstruction system which comprises a movable frame, a printing robot, a scanner and an ultraviolet curing lamp, a position adjusting mechanism is arranged at the upper end of the movable frame, the printing robot, the scanner and the ultraviolet curing lamp are all arranged in the movable frame, and the positions of the printing robot, the scanner and the ultraviolet curing lamp are adjusted through the position adjusting mechanism. A stock bin assembly is arranged in the printing robot, a nozzle switching mechanism is arranged at the lower end of the printing robot, a plurality of printing nozzles with adjustable positions are arranged on the lower side of the nozzle switching mechanism, and each printing nozzle is connected with a corresponding stock bin in the stock bin assembly through a connecting hose; the spray head switching mechanism comprises a movable adjusting sliding block, a plurality of lifting devices are arranged on the adjusting sliding block, and the heights of the printing spray heads are adjusted through the corresponding lifting devices. The multiple printing nozzles can be controlled to automatically achieve in-situ curved surface double-layer repairing and material curing of the to-be-repaired part of the skin, and meanwhile transferring is convenient.

Description

Technical Field

[0001] This invention relates to the field of bioprinting technology for skin tissue repair, specifically a movable dual-layer curved skin reconstruction system. Background Technology

[0002] The skin is the body's first line of defense against external damage. Severe skin damage refers to significant skin loss caused by deep burns, mechanical injuries, and other similar causes. Currently, there are two main treatment methods for severe skin damage: autologous skin transplantation and artificial skin repair. Autologous skin transplantation requires harvesting healthy skin from other parts of the body to cover the damaged area, which can cause new trauma to other skin. Furthermore, because skin injuries are often of varying depths and irregular shapes, artificial skin repair frequently fails to achieve a perfect fit. While bio-3D printing technology could solve these problems, the skin is composed of multiple layers of tissue cells, and its structure is often curved, making it difficult for traditional single-nozzle, three-degree-of-freedom robots to meet repair requirements. Additionally, patients with severe skin injuries often cannot move freely, frequently requiring on-site treatment and assistance. Summary of the Invention

[0003] The purpose of this invention is to provide a portable double-layer curved skin reconstruction system, which can control multiple printing nozzles to automatically achieve in-situ curved double-layer repair and material curing of the skin to be repaired, while being easy to transfer to suit the needs of on-site rescue in different situations.

[0004] The objective of this invention is achieved through the following technical solution: A movable dual-layer curved skin reconstruction system includes a mobile frame, a printing robot, a scanner, and an ultraviolet curing lamp. The mobile frame has a position adjustment mechanism at its upper end. The printing robot, scanner, and ultraviolet curing lamp are all housed within the mobile frame and their positions are adjusted via the position adjustment mechanism. The printing robot has a material hopper assembly inside and a nozzle conversion mechanism at its lower end. Multiple adjustable printing nozzles are located on the lower side of the nozzle conversion mechanism, and each printing nozzle is connected to a corresponding material hopper in the material hopper assembly via a connecting hose. The nozzle conversion mechanism includes a movable adjusting slider with multiple lifting devices, allowing the printing nozzles to adjust their height via corresponding lifting devices.

[0005] The position adjustment mechanism includes a lateral adjustment device and a longitudinal adjustment device. The lateral adjustment device is located on the upper end of the mobile frame, and the longitudinal adjustment device is driven to move by the lateral adjustment device. The printing robot, scanner, and ultraviolet curing lamp are all mounted on a fixed frame, and the fixed frame is driven to rise and fall by the longitudinal adjustment device.

[0006] The printing robot includes an upper mounting platform and a lower drive platform, and multiple telescopic arms are provided between the mounting platform and the drive platform. The mounting platform is connected to the fixed frame, and the drive platform is connected to the nozzle conversion mechanism.

[0007] The nozzle conversion mechanism includes a mounting base, and an adjusting screw is provided inside the mounting base. An adjusting motor is provided on one side of the mounting base. The adjusting screw is driven to rotate by the adjusting motor. An adjusting nut is provided inside the adjusting slider and is fitted onto the adjusting screw.

[0008] The mounting base has a connecting platform on its upper side that is fixedly connected to the printing robot. The mounting base has mounting side plates on both sides, and the adjusting screw is rotatably mounted on the corresponding mounting side plates on both sides. The adjusting motor is located on the outer side of any mounting side plate, and the adjusting screw has limit blocks at both ends.

[0009] The printing head includes a printhead cavity, and a nozzle is provided at the lower end of the printhead cavity. A feed port, a heating port and a temperature sensor are provided on one side of the printhead cavity. The feed port is connected to a corresponding hopper in the hopper assembly via a connecting hose. A heating rod is inserted into the heating port. The printhead cavity is equipped with a piezoelectric ceramic for vibrating material discharge.

[0010] The nozzle cavity is provided with a nozzle top cover on the upper side, and a press-fit stop is provided inside the upper end of the nozzle cavity. The edge of the piezoelectric ceramic is located on the press-fit stop and is pressed and fixed by the nozzle top cover. The nozzle cavity is provided with a nozzle fixing plate on the lower side, and the nozzle is pressed and fixed by the nozzle fixing plate.

[0011] The hopper assembly includes a hopper clamp, and each hopper is mounted on the hopper clamp. The hopper clamp is provided with a hopper fixing component that is fixedly connected to the printing robot. The lower end of the hopper is provided with a discharge control element, and the discharge control element is connected to the corresponding printing nozzle through a connecting hose.

[0012] The upper end of the hopper is equipped with a pneumatic control valve, and the nozzle conversion mechanism is equipped with a nozzle height vision system.

[0013] The control system adjusts the internal pressure of the silo according to the following formula and through the pneumatic control valve: △p = k × △h; In the above formula, △p is the air pressure difference, k is the proportional adjustment system, △h is the real-time nozzle height difference obtained by the nozzle height vision system during the printing process, and the control system controls and adjusts the negative pressure inside the material bin according to the air pressure difference △p.

[0014] The advantages and positive effects of this invention are as follows: 1. This invention, through the coordinated use of a position adjustment mechanism, a scanner, an ultraviolet curing lamp, a printing robot, and a nozzle switching mechanism, enables the automatic control of multiple printing nozzles to achieve in-situ, double-layer repair of the skin to be repaired and material curing. The scanner scans the skin to be repaired to determine the printing path. The position adjustment mechanism drives the printing robot to move according to the printing path. Simultaneously, the telescopic arms of the printing robot extend and retract according to the printing path to conform to the wound for printing. After the first layer of skin repair is printed, the nozzle switching mechanism automatically switches the printing nozzles to perform the second layer of skin repair printing. After all printing is completed, the position adjustment mechanism drives the ultraviolet curing lamp to cure the material. The entire process of this invention is completed automatically, enabling timely and rapid assistance to patients.

[0015] 2. This invention integrates a position adjustment mechanism, scanner, ultraviolet curing lamp, printing robot, and nozzle conversion mechanism onto a mobile frame, making it convenient for on-site rescue in different situations. At the same time, the position adjustment mechanism can adjust the position and height of the scanner, ultraviolet curing lamp, printing robot, and other devices according to the on-site conditions and the patient's position to ensure that the position requirements for on-site printing can be met.

[0016] 3. In this invention, the material bin assembly is located between the telescopic arms of the printing robot to make the overall structure more compact. At the same time, the connecting hoses on the lower side of each material bin of the material bin assembly pass through the drive platform and the connecting platform and are connected to the corresponding printing nozzles. This can not only affect the normal operation of the mechanism, but also play a role in converging and limiting each connecting hose to avoid the pipeline being messy.

[0017] 4. The present invention is equipped with a heating port and a temperature detection sensor on each print head, which can detect the internal temperature of the print head cavity in real time to ensure suitable cell storage.

[0018] 5. The present invention has an air pressure control valve at the upper end of the material hopper and a nozzle height vision system on the mounting base of the nozzle conversion mechanism to identify the nozzle height. In this way, during the printing process, the present invention can control the air pressure control valve in real time according to the changes in nozzle height, thereby adjusting the negative pressure inside the material hopper and ensuring the stable working air pressure of the printing nozzle. This is especially suitable for the special case of the present invention where each skin layer is very thin and the printing is of a curved surface. Attached Figure Description

[0019] Figure 1 This is a schematic diagram of the structure of the present invention. Figure 2 for Figure 1 A schematic diagram of the structure of the printing robot. Figure 3 for Figure 1Schematic diagram of the nozzle conversion mechanism. Figure 4 for Figure 3 Another structural diagram of the nozzle conversion mechanism. Figure 5 for Figure 3 Schematic diagram of the working state of the nozzle conversion mechanism. Figure 6 for Figure 1 A schematic diagram of the structure of the print head. Figure 7 for Figure 1 A structural diagram of the central silo assembly. Figure 8 for Figure 7 A schematic diagram of the wiring for the connecting hose.

[0020] Among them, 1 is the position adjustment mechanism, 2 is the hopper assembly, 201 is the hopper fixing component, 202 is the hopper cover, 203 is the hopper clamp, 204 is the hopper, 205 is the discharge control element, 206 is the connecting hose, 2061 is the hose inlet, 2062 is the hose outlet, 3 is the printing robot, 301 is the mounting platform, 302 is the telescopic arm, 303 is the drive platform, 4 is the nozzle conversion mechanism, 401 is the connecting platform, 402 is the mounting base, 403 is the adjustment motor, and 404 is the adjustment slide. Block 405 is the mounting side plate, 406 is the adjusting screw, 407 is the lifting device, 408 is the drive shaft, 409 is the printhead connector, 5 is the printhead, 501 is the printhead cover, 502 is the piezoelectric ceramic, 503 is the printhead cavity, 5031 is the press-fit stop, 504 is the nozzle, 505 is the nozzle fixing plate, 506 is the feed port, 507 is the heating port, 508 is the temperature sensor, 6 is the fixing frame, 7 is the ultraviolet curing lamp, 8 is the scanner, 9 is the moving frame, and 10 is the moving pulley. Detailed Implementation

[0021] The invention will now be described in further detail with reference to the accompanying drawings.

[0022] like Figures 1-8 As shown, the present invention includes a mobile frame 9, a printing robot 3, a scanner 8, and an ultraviolet curing lamp 7. The mobile frame 9 is provided with a position adjustment mechanism 1 at its upper end. The printing robot 3, the scanner 8, and the ultraviolet curing lamp 7 are all located in the mobile frame 9 and their positions are adjusted by the position adjustment mechanism 1. The printing robot 3 is provided with a material hopper assembly 2 inside and a nozzle conversion mechanism 4 at its lower end. The nozzle conversion mechanism 4 is provided with multiple adjustable printing nozzles 5 on its lower side, and each printing nozzle 5 is connected to a corresponding material hopper 204 in the material hopper assembly 2 through a connecting hose 206.

[0023] like Figure 1As shown, in this embodiment, the lower end of the mobile frame 9 is provided with a movable pulley 10 for movement. The position adjustment mechanism 1 includes a lateral adjustment device and a longitudinal adjustment device, wherein the lateral adjustment device is located at the upper end of the mobile frame 9, and the longitudinal adjustment device is driven to move through the lateral adjustment device. The printing robot 3, the scanner 8, and the ultraviolet curing lamp 7 are all mounted on a fixed frame 6, and the fixed frame 6 is driven to rise and fall through the longitudinal adjustment device. When using this invention, the mobile frame 9 moves to the patient's location, and the patient's body passes through the mobile frame 9, so that the part of the patient's body to be repaired is placed below the printing robot 3. Then, the position adjustment mechanism 1 is activated and adjusts the position and height of the printing robot 3, the scanner 8, and the ultraviolet curing lamp 7 according to the patient's position.

[0024] In this embodiment, the scanner 8 is a 3D scanner, a commercially available product. During operation, the control system generates a repair path based on the scanner 8's scanning of the patient's area to be repaired, and then controls the repair actions of the printing robot 3 and other mechanisms accordingly. This is a well-known technology in the field. Furthermore, this embodiment uses a photocurable bioprinting material. After the printing repair is completed, the photocurable bioprinting material needs to be cured by irradiation with the ultraviolet curing lamp 7.

[0025] In this embodiment, the lateral adjustment device can adopt a lead screw and nut motor structure, wherein the lead screw and motor are both located on the upper end of the moving frame 9, and the lead screw is driven to rotate by the motor. The nut is fitted on the lead screw and fixedly connected to an adjusting slide. The longitudinal adjustment device is fixedly located on the lower side of the adjusting slide. The longitudinal adjustment device can adopt a lifting cylinder or other device, and its lower end of the power shaft is fixedly connected to the fixed frame 6.

[0026] like Figure 2 As shown, in this embodiment, the printing robot 3 includes an upper mounting platform 301 and a lower drive platform 303, and multiple telescopic arms 302 are provided between the mounting platform 301 and the drive platform 303 to realize motion control. The mounting platform 301 is connected to the fixed frame 6. The printing robot 3 is a technology known in the art and is a commercially available product, such as a Stewart robot.

[0027] like Figures 3-5 As shown, in this embodiment, the printhead conversion mechanism 4 includes a movable adjusting slider 404, and the adjusting slider 404 is equipped with multiple lifting devices 407 (such as cylinders). The printing printheads 5 are driven to adjust their heights via corresponding lifting devices 407. Since this invention aims to achieve at least double-layer printing repair, the printing height of each layer will vary slightly. This invention uses the printhead conversion mechanism 4 to achieve the conversion of different printing printheads 5 and fine-tuning of their heights, specifically as follows: Figure 5As shown, the print head 5 that needs to perform a printing job will descend to the set height, while the print head 5 that does not need to perform a printing job will rise to the set height.

[0028] like Figures 3-5 As shown, in this embodiment, the nozzle conversion mechanism 4 includes a mounting base 402, and an adjusting screw 406 is provided inside the mounting base 402. An adjusting motor 403 is provided on one side of the mounting base 402. The adjusting screw 406 is driven to rotate by the adjusting motor 403. An adjusting nut is provided inside the adjusting slider 404 and is fitted onto the adjusting screw 406.

[0029] like Figures 3-5 As shown, in this embodiment, the upper side of the mounting base 402 is provided with a connecting platform 401 which is fixedly connected to the drive platform 303 of the printing robot 3. The mounting base 402 is provided with mounting side plates 405 on both sides, and the adjusting screw 406 is rotatably mounted on the corresponding mounting side plates 405 on both sides. The adjusting motor 403 is provided on the outer side of any mounting side plate 405. In addition, the adjusting screw 406 is provided with limit blocks at both ends to limit the displacement of the adjusting slider 404.

[0030] like Figures 3-5 As shown, in this embodiment, the drive shaft 408 on the lower side of the lifting device 407 is fixedly connected to the printhead connector 409, and the printhead 5 is mounted on the printhead connector 409.

[0031] like Figure 6 As shown, in this embodiment, the printhead 5 includes a printhead cavity 503, and a nozzle 504 is provided at the lower end of the printhead cavity 503. A feed inlet 506, a heating port 507, and a temperature sensor 508 are provided on one side of the printhead cavity 503. The feed inlet 506 is connected to a corresponding hopper 204 in the hopper assembly 2 via a connecting hose 206. A heating rod is inserted into the heating port 507 to prevent the photocurable material from condensing and clogging the nozzle 504, while maintaining the internal temperature of the cavity. The temperature sensor 508 is used to detect the internal temperature of the printhead cavity 503 in real time. Both the temperature sensor 508 and the heating rod are commercially available products.

[0032] like Figure 6 As shown, in this embodiment, a piezoelectric ceramic 502 is provided inside the nozzle cavity 503. When the invention is working, after the bioprinting material enters the nozzle cavity 503, the piezoelectric ceramic 502, which is energized, vibrates and shakes the printing material out of the nozzle 504, thereby realizing material output. The piezoelectric ceramic 502 is a technology known in the art.

[0033] like Figure 6As shown, in this embodiment, the nozzle cavity 503 is provided with a nozzle top cover 501 on the upper side, and the nozzle cavity 503 is provided with a press-fit stop 5031 inside the upper end. The edge of the piezoelectric ceramic 502 is provided on the press-fit stop 5031 and is pressed and fixed by the nozzle top cover 501.

[0034] like Figure 6 As shown in this embodiment, a nozzle fixing plate 505 is provided on the lower side of the nozzle cavity 503, and the nozzle 504 is pressed and fixed by the nozzle fixing plate 505.

[0035] like Figure 7 As shown, in this embodiment, the hopper assembly 2 includes a hopper clamp 203, and each hopper 204 is disposed on the hopper clamp 203. The hopper clamp 203 is provided with a hopper fixing component 201 fixedly connected to the mounting platform 301 of the printing robot 3. The lower end of each hopper 204 is provided with a discharge control element 205 (such as a discharge control valve, which is a commercially available product), and the discharge control element 205 is connected to the feed inlet 506 on the corresponding print head 5 via a connecting hose 206. Figure 8 As shown, the connecting hose 206 needs to be long enough to meet the adjustment requirements. The connecting hose 206 is routed between the various telescopic arms 302 of the printing robot 3 to ensure a compact structure. The hose inlet 2061 of the connecting hose 206 is fixedly connected to the corresponding outlet control element 205, and the hose outlet 2062 passes through the drive platform 303 and the connecting platform 401 before connecting to the corresponding print head 5. Furthermore, the through holes on the drive platform 303 and the connecting platform 401 for the connecting hose 206 to pass through can also constrict and limit the flow of each connecting hose 206 to prevent tangled piping.

[0036] like Figure 7 As shown, in this embodiment, the upper end of the material hopper 204 is provided with a material hopper cover 202, and the material hopper cover 202 is provided with a pressure control valve connected to a corresponding pipeline. The mounting base 402 of the nozzle conversion mechanism 4 is provided with a nozzle height vision system (such as a vision camera) to identify the height of the nozzle 504. In this way, during the printing process, the control system will calculate based on the identified height of the nozzle 504, and then control and adjust the negative pressure inside the material hopper 204 through the pressure control valve, thereby ensuring the stable working air pressure of the printing nozzle 5. The specific adjustment formula is as follows: △p = k × △h; In the above formula, △p is the air pressure difference, k is the proportional adjustment system, and △h is the real-time height difference of the nozzle 504 during the printing process. After calculation, the control system controls the negative pressure inside the material bin 204 according to the air pressure difference △p.

[0037] The working principle of this invention is as follows: The present invention includes the following steps in operation: Step 1: Push the mobile carriage 9 according to the patient's position so that the patient is in the mobile carriage 9 and below the printing robot 3, scanner 8 and ultraviolet curing lamp 7.

[0038] Step 2: The position adjustment mechanism 1 adjusts the position and height of the printing robot 3, scanner 8 and ultraviolet curing lamp 7 according to the patient's condition. The horizontal adjustment device in the position adjustment mechanism 1 realizes horizontal movement adjustment, and the vertical adjustment device realizes vertical lifting adjustment, so that the printing robot 3, scanner 8 and ultraviolet curing lamp 7 are moved to a position that meets the subsequent repair requirements.

[0039] Step 3: The lateral adjustment device in the position adjustment mechanism 1 is activated, driving the scanner 8 to scan the patient's area to be repaired, including its position, shape, depth, curvature, etc., thus obtaining a three-dimensional model of the entire wound to be filled and reconstructed. The control system then layers and processes the filling model, and generates a customized printing path based on the dermis and epidermis of the real skin. The above-mentioned printing path generation process is a well-known technology in the field.

[0040] Step 4: After the print path is determined, as follows Figure 5 As shown, the print head 5, which needs to perform the work, descends to the set height. Then, the lateral adjustment device in the position adjustment mechanism 1 is activated, driving the printing robot 3 to move and perform the printing repair work on the first layer of skin of the wound. Figure 2 As shown, during the printing process, each telescopic arm 302 in the printing robot 3 extends and retracts in coordination with the printing path determined in step three to achieve the purpose of printing to fit the wound.

[0041] In this embodiment, the first layer of repair material is methacrylamide gelatin, a photocurable bioprinting material carrying fibroblasts. The theoretical average thickness of the dermal layer of the first layer of repair material is 1.4 mm. Additionally, in this embodiment, the nozzle cavity 503 inside the printhead 5 is monitored in real time by a temperature sensor 508 to maintain the temperature at 37°C, suitable for cell storage.

[0042] In addition, during the printing process, the nozzle height vision system (such as a vision camera) on the mounting base 402 will identify the height of the nozzle 504 in real time. Then the control system will calculate based on the identified height of the nozzle 504 and control the negative pressure inside the material hopper 204 through the air pressure control valve at the upper end of the material hopper 204, thereby ensuring the stable working air pressure of the printing nozzle 5 and the consistency of the material printing thickness. This is especially suitable for the special case of printing very thin thickness and curved surface printing in this invention.

[0043] Step 5: After the first layer of skin is printed, the printhead switching mechanism 4 switches the printhead 5, where the first printhead 5 rises to the set height and the second printhead 5 falls to the set height. Then, the lateral adjustment device in the position adjustment mechanism 1 is activated to drive the printing robot 3 to print the second layer of skin.

[0044] In this embodiment, the second repair material is a photocurable bioprinting material containing keratinocytes, methacrylamide gelatin, and the average thickness of the dermal layer of the skin printed with the second repair material is 0.8 mm.

[0045] In addition, in this step, after the print head 5 is converted, the control system can reverse the control according to the printing path determined in step three to achieve the printing of the second layer of skin, without having to return to the origin.

[0046] Step Six: After the skin printing is completed, the position adjustment mechanism 1 controls the movement of the ultraviolet curing lamp 7 to cure the repaired skin material.

Claims

1. A movable dual-layer curved skin reconstruction system, characterized in that: The system includes a mobile frame (9), a printing robot (3), a scanner (8), and an ultraviolet curing lamp (7). The mobile frame (9) is equipped with a position adjustment mechanism (1) at its upper end. The printing robot (3), scanner (8), and ultraviolet curing lamp (7) are all located in the mobile frame (9) and their positions are adjusted by the position adjustment mechanism (1). The printing robot (3) is equipped with a hopper assembly (2) inside and a nozzle conversion mechanism (4) at its lower end. The nozzle conversion mechanism (4) is equipped with multiple adjustable printing nozzles (5) on its lower side. Each printing nozzle (5) is connected to the corresponding hopper (204) in the hopper assembly (2) via a connecting hose (206). The nozzle conversion mechanism (4) includes a movable adjustment slider (404) and multiple lifting devices (407) on the adjustment slider (404). The height of each printing nozzle (5) is adjusted by the corresponding lifting device (407).

2. The movable dual-layer curved skin reconstruction system according to claim 1, characterized in that: The position adjustment mechanism (1) includes a lateral adjustment device and a longitudinal adjustment device. The lateral adjustment device is located on the upper end of the mobile frame (9), and the longitudinal adjustment device is driven to move by the lateral adjustment device. The printing robot (3), the scanner (8), and the ultraviolet curing lamp (7) are all located on a fixed frame (6), and the fixed frame (6) is driven to rise and fall by the longitudinal adjustment device.

3. The movable dual-layer curved skin reconstruction system according to claim 2, characterized in that: The printing robot (3) includes an upper mounting platform (301) and a lower driving platform (303), and multiple telescopic arms (302) are provided between the mounting platform (301) and the driving platform (303). The mounting platform (301) is connected to the fixed frame (6), and the driving platform (303) is connected to the nozzle conversion mechanism (4).

4. The movable dual-layer curved skin reconstruction system according to claim 1, characterized in that: The nozzle conversion mechanism (4) includes a mounting base (402), and an adjusting screw (406) is provided inside the mounting base (402). An adjusting motor (403) is provided on one side of the mounting base (402). The adjusting screw (406) is driven to rotate by the adjusting motor (403). An adjusting nut is provided inside the adjusting slider (404) and is fitted onto the adjusting screw (406).

5. The movable dual-layer curved skin reconstruction system according to claim 4, characterized in that: The mounting base (402) has a connecting platform (401) on its upper side that is fixedly connected to the printing robot (3). The mounting base (402) has mounting side plates (405) on both sides, and the adjusting screw (406) is rotatably mounted on the corresponding mounting side plates (405) on both sides. The adjusting motor (403) is provided on the outer side of any mounting side plate (405), and the adjusting screw (406) has limit blocks at both ends.

6. The movable dual-layer curved skin reconstruction system according to claim 1, characterized in that: The print head (5) includes a print head cavity (503), and a nozzle (504) is provided at the lower end of the print head cavity (503). A feed inlet (506), a heating port (507) and a temperature sensor (508) are provided on one side of the print head cavity (503). The feed inlet (506) is connected to the corresponding hopper (204) in the hopper assembly (2) through a connecting hose (206). A heating rod is inserted into the heating port (507). A piezoelectric ceramic (502) for vibrating discharge is provided inside the print head cavity (503).

7. The movable dual-layer curved skin reconstruction system according to claim 6, characterized in that: The nozzle cavity (503) is provided with a nozzle top cover (501) on the upper side, and a press-fit stop (5031) is provided inside the upper end of the nozzle cavity (503). The edge of the piezoelectric ceramic (502) is provided on the press-fit stop (5031) and is pressed and fixed by the nozzle top cover (501). The nozzle cavity (503) is provided with a nozzle fixing plate (505) on the lower side, and the nozzle (504) is pressed and fixed by the nozzle fixing plate (505).

8. The movable dual-layer curved skin reconstruction system according to claim 1, characterized in that: The hopper assembly (2) includes a hopper clamp (203), and each hopper (204) is provided on the hopper clamp (203). The hopper clamp (203) is provided with a hopper fixing part (201) and is fixedly connected to the printing robot (3). The lower end of the hopper (204) is provided with a discharge control element (205), and the discharge control element (205) is connected to the corresponding printing nozzle (5) through a connecting hose (206).

9. The movable dual-layer curved skin reconstruction system according to claim 1, characterized in that: The upper end of the hopper (204) is equipped with a pneumatic control valve, and the nozzle conversion mechanism (4) is equipped with a nozzle height vision system.

10. The movable dual-layer curved skin reconstruction system according to claim 9, characterized in that: The control system adjusts the internal pressure of the hopper (204) according to the following formula and through the pneumatic control valve: △p = k × △h; In the above formula, △p is the air pressure difference, k is the proportional adjustment system, △h is the real-time height difference of the nozzle (504) obtained by the nozzle height vision system during the printing process, and the control system controls and adjusts the negative pressure inside the material bin (204) according to the air pressure difference △p.

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