阅读说明：本技术 磺化pvdf基ipmc电致动器及其制备方法和在vr触感手套中的应用 (Sulfonation PVDF base IPMC electric actuator and preparation method thereof and the application in VR sense of touch gloves ) 是由 郭东杰 王付义 王放 于 2019-08-31 设计创作，主要内容包括：本发明公开了一种磺化PVDF基IPMC电致动器及其制备方法和在VR触感手套中的应用,所述IPMC电致动器由磺酸化PVDF制备的基底膜、固定在基底膜两侧的PVDF/石墨电极和外接的电信号输入系统组成,所述基底膜由磺酸化PVDF静电纺丝制成,所述PVDF/石墨电极由导电石墨掺杂PVDF挂浆成膜制成。本发明的IPMC具有大量的水通道,大量的水通道能极大的提高材料内部的水分子迁移量,在材料内部形成更大的压力差和离子流,有利于电致动器形成更大的驱动,同时也提供更大的力学性能。本发明的IPMC在用途上具有更加广阔的领域。譬如,由于本发明的IPMC质量轻,能源消耗少,因此可以用于VR游戏设备的触感手套。(Application the invention discloses a kind of sulfonation PVDF base IPMC electric actuator and preparation method thereof and in VR sense of touch gloves, basilar memebrane that the IPMC electric actuator is prepared by sulfonated PVDF is fixed on the PVDF/ graphite electrode of basilar memebrane two sides and external electric signal input system forms, the basilar memebrane is made of sulfonated PVDF electrostatic spinning, and the PVDF/ graphite electrode is made of electrically conductive graphite doping PVDF hanging film forming.IPMC of the invention has a large amount of aquaporin, a large amount of aquaporin can greatly improve the hydrone the amount of migration of material internal, bigger pressure difference and ion stream are formed in material internal, are conducive to electric actuator and are formed bigger driving, while bigger mechanical property being also provided.IPMC of the invention has more wide field in purposes.For example, due to IPMC light weight of the invention, energy consumption is few, therefore can be used for the sense of touch gloves of VR game station.)

1. a kind of sulfonation PVDF base IPMC electric actuator, it is characterised in that: the IPMC electric actuator is prepared by sulfonated PVDF Basilar memebrane, the PVDF/ graphite electrode and external electric signal input system composition that are fixed on basilar memebrane two sides, the basilar memebrane It is made of sulfonated PVDF electrostatic spinning, the PVDF/ graphite electrode is made of electrically conductive graphite doping PVDF hanging film forming.

2. sulfonation PVDF base IPMC electric actuator according to claim 1, it is characterised in that: the basilar memebrane with a thickness of 0.1-0.5mm, silk diameter are 0.5-8 μm.

3. sulfonation PVDF base IPMC electric actuator according to claim 1, it is characterised in that: the PVDF/ graphite electrode Surface resistance be 0.5-50 Ω.

4. sulfonation PVDF base IPMC electric actuator according to claim 1, it is characterised in that: the electric signal input system Electric signal be 0.1-10Hz, sine wave, square wave or the triangular wave of 0.5-5V.

5. the preparation method of sulfonation PVDF base IPMC electric actuator according to claim 1 to 4, it is characterised in that packet Include following steps:

(1) preparation of sulfonated PVDF powder: PVDF solid powder is put into NaOH aqueous solution and impregnates 2h, places into deionization Impregnate 2h in water, photoinitiator and vinyl sodium benzosulfonate solution be then added, puts and is caused in the UV lamp, respectively according to Penetrate 15h, for 24 hours, 36h, 45h, 50h, 60h, sulfonated PVDF solid powder is made；

(2) preparation of sulfonated PVDF substrate coating solution: sulfonated PVDF solid powder is added in DMF solvent, is stirred at 60 DEG C It mixes, is uniformly mixed, the bubble being then allowed to stand in removal solution obtains sulfonated PVDF substrate coating solution；

(3) electrostatic spinning prepares sulfonated PVDF basilar memebrane；

(4) preparation of PVDF/ graphite electrode liquid: electrically conductive graphite powder and PVDF are weighed loaded on beaker for 1.4:1 in mass ratio, is added DMF is placed in ultrasonic disperser and is adequately uniformly dispersed, and obtains PVDF/ graphite electrode liquid；

(5) grout coating process prepares PVDF/ graphite electrode: the PVDF/ graphite electrode liquid that step (4) is prepared is coated on glass plate, It is put in drying and forming-film in baking oven；

(6) assembling of IPMC: by the PVDF/ of the sulfonated PVDF basilar memebrane of step (3) electrostatic spinning preparation and grout coating process preparation Graphite electrode is combined together by the method for hot pressing, and sulfonation PVDF base IPMC electric actuator is obtained after cutting.

6. the preparation method of sulfonation PVDF base IPMC electric actuator according to claim 5, it is characterised in that: the step (1) mass ratio of PVDF solid powder and sodium p styrene sulfonate is 1:2 in, and photoinitiator accounts for PVDF solid powder quality 5‰。

7. the preparation method of sulfonation PVDF base IPMC electric actuator according to claim 5, it is characterised in that: the step (3) electrostatic spinning prepare sulfonated PVDF basilar memebrane method it is as follows；Sulfonated PVDF substrate coating solution obtained is placed on On pusher for syringe, high-pressure installation route is connected, and electrostatic screen device is installed, adjusting voltage is 12kV, needle tubing and reception The distance 20cm of device roller, the fltting speed 0.20mL/h of piston rod of syringe, spinning obtain sulfonated PVDF basilar memebrane for 24 hours.

8. application of any sulfonation PVDF base IPMC electric actuator of claim 1-4 on VR sense of touch gloves.

9. application according to claim 8, it is characterised in that: the VR sense of touch gloves include glove bodies (1), center control Molding block (2), drive module (3) and power supply module (4), the central control module are connect by conducting wire with drive module, The drive module is connected by conducting wire with power supply module；The drive module is by sulfonation PVDF base IPMC electric actuator group At；The central control module includes signal receiving device and signal processing apparatus；The power supply module by receive come The signal discharging current spread out of from central control module controls drive module；The sulfonation PVDF base IPMC electric actuator includes Polymeric layer and two Side-electrode layers, the IPMC electric actuator apply electric signal by power supply module and are driven.

Technical field

The invention belongs to technical field of composite materials, and in particular to sulfonation PVDF base IPMC electric actuator and preparation method thereof With the application on VR sense of touch gloves.

Background technique

Noble metal such as platinum is plated by the method for electroless plating in the two sides of polymer film, ionic polymerization can be made in gold etc. Object metal composite (Ionic Polymer Metal Composite, IPMC), also known as artificial-muscle.The material is made in electric field It can bend under, and electric microfield can be generated under alternating bending state, thus can be applied to actuator and sensor, by In its light weight, driving voltage is low, and similar to the performance of biological muscles, this material leavens dough to have obtained extensively in actuator at present Research and application.Its drive mechanism is as shown in Figure 1.

The certain hydrone of cation carrying is swollen so as to cause anode shrink and cathode to movable cathode under electric field action It is swollen, so that material bends.The driving voltage of this material is low, usually in 1-3V or so.

The driving of ionic polymer metal compound is since the cation in base material drives water under electric field action Molecule is to movable cathode, so that material is bent to anode, the loss of moisture will affect the output of IPMC artificial muscle material Power and displacement, so the application of IPMC artificial muscle at present is main in water or wet environment, IPMC people in dry environments The working time of work muscle is also comparable short.

The IPMC made of PVDF has voltage small, and reaction is fast, lower-price characteristic, deep to be answered by each field of science and technology With, but it exists simultaneously the disadvantages of porosity is low, and water imbibition is poor, and shift length is short, the displacement period is short, and mechanical property is small.

In recent years, in order to improve the mechanics output performance of IPMC artificial muscle, domestic and foreign scholars, which have done this, largely to be ground Study carefully, including the method by improving electroless plating, reduces the loss of moisture to improve the mechanical property of IPMC.At present preferably Method be that IPMC is prepared with modified pvdf membrane by the modification to base material (PVDF), in this way can be greatly Improve mechanical property and the working time of IPMC.

Summary of the invention

Aiming at the problems existing in the prior art, the present invention provides a kind of sulfonation PVDF base IPMC electric actuator and its preparation Method and the application on VR sense of touch gloves.

In order to solve the above technical problems, the invention adopts the following technical scheme:

A kind of sulfonation PVDF base IPMC electric actuator, basilar memebrane that the IPMC electric actuator is prepared by sulfonated PVDF, It is fixed on the PVDF/ graphite electrode and external electric signal input system composition of basilar memebrane two sides, the basilar memebrane is by sulfonated PVDF electrostatic spinning is made, and the PVDF/ graphite electrode is made of electrically conductive graphite doping PVDF hanging film forming.

Further, the basilar memebrane with a thickness of 0.1-0.5mm, silk diameter is 0.5-8 μm.

Further, the surface resistance of the PVDF/ graphite electrode is 0.5-50 Ω.

Further, the electric signal of the electric signal input system is 0.1-10Hz, sine wave, square wave or the triangle of 0.5-5V Wave.

The preparation method of the sulfonation PVDF base IPMC electric actuator, comprising the following steps:

(1) preparation of sulfonated PVDF powder: PVDF solid powder is put into NaOH aqueous solution and impregnates 2h, is placed into 2h is impregnated in ionized water, and photoinitiator and vinyl sodium benzosulfonate solution is then added, puts and is caused in the UV lamp, point Not Zhao She 15h, for 24 hours, 36h, 45h, 50h, 60h, sulfonated PVDF solid powder is made；

(2) preparation of sulfonated PVDF substrate coating solution: sulfonated PVDF solid powder is added in DMF solvent, 60 DEG C Lower stirring is uniformly mixed, and the bubble being then allowed to stand in removal solution obtains sulfonated PVDF substrate coating solution；

(3) electrostatic spinning prepares sulfonated PVDF basilar memebrane；

(4) preparation of PVDF/ graphite electrode liquid: weighing electrically conductive graphite powder in mass ratio for 1.4:1 and PVDF be loaded on beaker, Addition DMF, which is placed in ultrasonic disperser, to be adequately uniformly dispersed, and obtains PVDF/ graphite electrode liquid；

(5) grout coating process prepares PVDF/ graphite electrode: the PVDF/ graphite electrode liquid that step (4) is prepared is coated on glass plate On, it is put in drying and forming-film in baking oven；

(6) it the assembling of IPMC: prepared by the sulfonated PVDF basilar memebrane of step (3) electrostatic spinning preparation and grout coating process PVDF/ graphite electrode is combined together by the method for hot pressing, and sulfonation PVDF base IPMC electric actuator is obtained after cutting.

Further, the mass ratio of PVDF solid powder and sodium p styrene sulfonate is 1:2 in the step (1), light-initiated Agent accounts for the 5 ‰ of PVDF solid powder quality.

Further, the method that step (3) electrostatic spinning prepares sulfonated PVDF basilar memebrane is as follows: by sulfonic acid obtained Change PVDF substrate coating solution to be placed on pusher for syringe, connect high-pressure installation route, and electrostatic screen device is installed, adjusts Voltage is 12kV, and the distance 20cm of needle tubing and reception device roller, the fltting speed 0.20mL/h of piston rod of syringe, spinning is for 24 hours Obtain sulfonated PVDF basilar memebrane.

Application of the sulfonation PVDF base IPMC electric actuator on VR sense of touch gloves: the VR sense of touch gloves include hand Main body, central control module, drive module and power supply module are covered, the central control module is connected by conducting wire and drive module It connects, the drive module is connected by conducting wire with power supply module；The drive module is by sulfonation PVDF base IPMC electric actuation Device composition；The central control module includes signal receiving device and signal processing apparatus；The power supply module is by connecing It receives the signal discharging current spread out of from central control module and controls drive module；The sulfonation PVDF base IPMC electric actuator Including polymeric layer and two Side-electrode layers, the IPMC electric actuator (three-layer sandwich structure) can apply electricity by power supply module Signal is driven.

It is the IPMC of dielectric film as drive module using sulfonated PVDF, then is connected by conducting wire with power supply module, together When power supply module is connected with central control module so that the gloves can receive from external equipment signal and biography Pass power supply, power supply makes IPMC electric actuator deflect to generate feedback force.

Beneficial effects of the present invention: 1. IPMC proposed by the present invention have the vesicularity of height, sulfonated PVDF basilar memebrane It is that spinning is made, therefore voidage is very big, vesicularity is very high, and IPMC is made to absorb more water, is conducive to maintain IPMC for a long time Stabilized driving.

2. proposed by the present invention have high-hydrophilic by the IPMC of basilar memebrane of sulfonated PVDF, made from the spinning of itself PVDF basilar memebrane has high vesicularity, makes basilar memebrane hydrophily stronger after Sulphonic Acid Functionalized.High-hydrophilic can be such that IPMC stores up More moisture are deposited, it is longer to be conducive to IPMC driving time.

3. proposed by the present invention have a large amount of aquaporin, a large amount of aquaporin by the IPMC of basilar memebrane of sulfonated PVDF The hydrone the amount of migration that material internal can greatly be improved forms bigger pressure difference and ion stream in material internal, is conducive to Electric actuator forms bigger driving, while also providing bigger mechanical property.

4. it is proposed by the present invention cheap using sulfonated PVDF as the IPMC of basilar memebrane, it is replaced using PVDF at high price Nafion, expensive noble metal electrode is replaced using graphite electrode, guarantees the IPMC tool of preparation on the basis of cheap There is good performance, is conducive to the research and development and application of product.

5. IPMC of the invention has more wide field in purposes.For example, due to IPMC light weight of the invention, Energy consumption is few, therefore can be used for the sense of touch gloves of VR game station.

Detailed description of the invention

Fig. 1 is the drive mechanism figure of ionic polymer metal complex.

Fig. 2 is sulfonated PVDF powder Grafting mechanism figure made of the present invention.

Fig. 3 is the front scan electron microscopic picture of sulfonated PVDF dielectric film made of the present invention.

Fig. 4 is the structural schematic diagram of sulfonated PVDF electric actuator made of the present invention.

Fig. 5 is the structural schematic diagram for the VR sense of touch gloves that the present invention designs.

Specific embodiment

Combined with specific embodiments below, the present invention will be further described.It should be understood that following embodiment is merely to illustrate this The person skilled in the art of the range of invention and is not intended to limit the present invention, the field can make one according to the content of foregoing invention A little nonessential modifications and adaptations.