Harmonic reducer rigidity consistency measuring device for industrial robot

The invention relates to the technical field of reducer performance testing, in particular to a harmonic reducer rigidity consistency measuring device for an industrial robot. The device comprises a mounting flange and a loading flange. The device further comprises a servo motor connected with the mounting flange through a coupler, an input end circular grating fixedly mounted on the mounting flange and used for measuring the angle variation of the input end of a harmonic reducer, an output end circular grating fixedly mounted on the loading flange and used for measuring the angle variation of the output end of the harmonic reducer, a force sensor mounted on the loading flange, connected with the loading flange through a steel wire rope and used for determining actual loading force, a ball screw sliding block used for enabling the force sensor to slide synchronously with the ball screw sliding block and a stepping motor connected with the lead screw end of the ball screw sliding block and used for automatical