Short tube flexible gear harmonic reducer of rigid wheel tooth dip angle and transmission rigidity testing device thereof

The invention discloses a short tube flexible gear harmonic reducer of a rigid wheel tooth dip angle and a transmission rigidity testing device thereof, and relates to the technical field of harmonic reducers. According to the invention, the deflection of the flexible wheel gear teeth is caused by the reduction of the axial size of the short tube flexible gear harmonic reducer, so as to realize the reduction of the surface area between the rigid wheel gear teeth and the flexible wheel gear teeth, and to realize the lowering of the transmission rigidity; the problem of complicated operating process of the existing harmonic drive rigidity experiment testing device is solved; and the length diameter ratio of a soft wheel is 1/4 to 3/5 of a short tube wheel, the inner wheel of the rigid wheel with a dip angle is the wheel teeth with the dip angle alpha along the rigid wheel axial direction, and the deflection direction and the field angle direction of the soft wheel on a long shaft are coincident. The transmission rigidity testing device of the short tube flexible gear harmonic reducer implements current control namely torque control through a computer and a servo driver, and the harmonic drive output end realizes continuous loading unloading; and the harmonic drive rigidity of the short tube soft wheel is obtained, and the transmission rigidity is serially, rapidly accurately obtained.