Novel controllable damping joint

The invention discloses a novel controllable damping joint. The damping joint comprises a joint input plate, a joint output plate, a magnetic powder clutch variable damping part, a spring variable damping part; and according to the joint, the spring variable damping part can provide initial damping torque, the magnetic powder clutch variable damping part has four different working states of approaching, positioning, self-locking and leaving, and under the four different working states, a controller and a driver can automatically change the electric current input to a magnetic powder clutch tochange the damping torque according to the joint relative rotating speed detected by an angle detecting sensor. The damping joint can be applied to various variable damping occasions, and is simple instructure, safe and reliable. 本发明公开了一种新型可控阻尼关节，包括关节输入板、关节输出板、磁粉离合器变阻尼部分、弹簧变阻尼部分；本发明能够通过弹簧变阻尼部分提供初始阻尼力矩，磁粉离合器变阻尼部分有靠近、定位、自锁、远离四个不同的工作状态，并且在这四个不同的工作状态下都能根据角度检测传感器检测到的关节相对转速通过控制器以及驱动器自动改变输入到磁粉离合器的电流以改变阻尼力矩。该发明能够适用在各种变阻尼场合，结构简单，安