Exoskeleton robot joint actuator based on magnetorheological effect

The invention discloses an exoskeleton robot joint actuator based on a magnetorheological effect. The exoskeleton robot joint actuator mainly comprises a knee joint actuator, a thighbone, a knee joint actuator connecting plate, a rotating shaft, a cylindrical roller bearing, a rotating blade, an end cover, a coil, an external power source and magnetorheological fluid. The upper portion of the exoskeleton knee joint actuator is connected with the femur through a shaft, the lower portion of the exoskeleton knee joint actuator is fixed to the tibia through a bolt, the rotating blade is connected with the rotating shaft through a common flat key, magnetorheological fluid with a certain volume is contained in the rotating blade, and the rotating shaft is connected with the knee joint through a cylindrical roller bearing and an end cover. And the coils are arranged on the knee joint actuator on the periphery of the rotating blade according to a certain rule and are connected with an external power supply and a cont