Wire fixing device and robot

Abstract

The present invention belongs to the technical field of robot equipment, and provides a line fixing device and a robot, wherein the line fixing device comprises: an elastic skeleton, which is tubular or rod-shaped; two connecting plates, which are respectively fixedly connected to the ends of the elastic skeleton and have a plurality of through holes distributed along the circumferential direction; a plurality of guide assemblies, which are arranged at intervals along the extension direction of the elastic skeleton, including a plurality of guide rings arranged along the circumference of the elastic skeleton, and the guide rings have a first opening; at least two support rings are arranged along the extension direction of the elastic skeleton, and a plurality of guide grooves are arranged along the circumference, and the guide grooves are arranged corresponding to the guide rings, and the guide grooves have a second opening; and a protective tube, which is sleeved outside the plurality of guide assemblies, and the ends of which are connected to the support rings and can rotate relative to the support rings, and have a third opening in the circumferential direction for allowing cables to pass through. The present invention can conveniently replace cables.

Description

Technical Field

[0001] The present invention relates to the technical field of robot equipment, and in particular to a wire fixing device and a robot. Background Art

[0002] The cables of the SCARA robot include power lines, encoding lines, grounding lines, and reserved air pipes and IO lines. Currently, these cables are arranged in corrugated tubes. When these cables are damaged and need to be replaced, it is inconvenient to remove and replace them. For example, when disassembling, it is usually necessary to remove the connector at the end of the cable before taking out the cable; when replacing a new cable, it is necessary to loosen the two ends of the other cables before passing the new cable through the corrugated tube. In general, the current cable fixing form is not convenient for replacing cables. Summary of the invention

[0003] In view of the defects in the prior art, an object of the present invention is to provide a cable fixing device and a robot, which makes it easy to replace cables.

[0004] In the first aspect, the present invention provides a wire fixing device, comprising: an elastic skeleton in a tubular or rod-shaped shape; two connecting plates, which are respectively fixedly connected to the ends of the elastic skeleton and have a plurality of through holes distributed along the circumferential direction; a plurality of guide assemblies are arranged at intervals along the extension direction of the elastic skeleton, including a plurality of guide rings arranged along the circumference of the elastic skeleton, and the guide ring has a first opening; at least two support rings are arranged along the extension direction of the elastic skeleton, and a plurality of guide grooves are arranged along the circumference, and the guide grooves are arranged corresponding to the guide rings, and the guide grooves have a second opening; and a protective tube, which is sleeved outside the plurality of guide assemblies, the ends of which are connected to the support rings and can rotate relative to the support rings, and the third opening in the circumferential direction allows cables to pass through.

[0005] Furthermore, the guide assembly also includes: an annular hoop body, which is sleeved outside the elastic frame and on which the guide ring is arranged; and a locking structure, which is used to lock the annular hoop body.

[0006] Furthermore, the annular hoop body includes: a first ring body having a fourth opening; two connecting parts relatively arranged at the fourth opening of the first ring body; and a slide groove arranged along the circumference of the first ring body; the guide ring is slidably arranged in the slide groove.

[0007] Furthermore, the cross-section of the slide groove is convex-shaped, and the two ends of the slide groove respectively maintain a certain distance between the two connecting parts; the guide ring includes: a second ring body, having the first opening; and a sliding retaining part, which is fixedly connected to the second ring body and can move from the distance to the slide groove.

[0008] Furthermore, the sliding retaining portion includes: a shell; a rotating shaft, rotatably connected to the shell, one end of which is fixedly connected to the second ring body, and the other end of which extends into the shell; a gear, coaxially connected to the other end of the rotating shaft and moving synchronously with the rotating shaft; two racks, relatively arranged, slidably connected to the inner wall of the shell, meshing with the gear, and one end of which can extend out of the shell; a clamping block, fixedly arranged at one end of the rack and capable of abutting against the groove wall of the slide groove; and a torsion spring, sleeved on the rotating shaft, for making the one end of the rack have a tendency to move toward the outside of the shell.

[0009] Furthermore, the first openings of the two second ring bodies closest to the fourth opening are deflected in a direction away from the fourth opening.

[0010] Furthermore, the gear is provided with an insertion hole into which one end of the torsion spring can be inserted, and the inner wall of the shell is provided with a slot into which the other end of the torsion spring can be inserted.

[0011] Furthermore, it also includes a slip ring which is arranged on the support ring and can rotate along the circumference of the support ring, the slip ring has a fifth opening corresponding to the second opening, and the slip ring is connected to the end of the protection tube.

[0012] Furthermore, it also includes a flexible filler disposed between two adjacent support rings and located inside the protection tube, wherein the flexible filler is used to cover the third opening.

[0013] In a second aspect, the present invention provides a robot comprising the wire fixing device described in any one of the above items.

[0014] Beneficial effects of the present invention: The present invention provides a wire fixing device and a robot, which, through the combination of an elastic skeleton, a connecting plate, a guide assembly, a support ring and a protective tube, when it is necessary to replace a cable, the third opening of the protective tube is rotated to a position directly opposite to the first opening corresponding to the cable to be replaced, and then the cable can be taken out from the guide groove on the guide ring and the support member, and finally removed through the third opening on the protective tube, and when installing, the cable is inserted into the corresponding guide ring and the guide groove on the support member through the third opening on the protective tube. Therefore, when replacing a certain cable, there is no need to move other cables, and there is no need to remove the protective tube, so the cable can be replaced very conveniently. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following is a brief introduction to the drawings required for the specific embodiments or the description of the prior art. In all the drawings, similar elements or parts are generally identified by similar reference numerals. In the drawings, the elements or parts are not necessarily drawn according to the actual scale.

[0016] Figure 1 A schematic diagram of the structure of a robot provided by one embodiment of the present invention;

[0017] Figure 2 A three-dimensional diagram of a wire fixing device provided in one embodiment of the present invention;

[0018] Figure 3 A three-dimensional diagram of a partial structure of a wire fixing device provided in one embodiment of the present invention;

[0019] Figure 4 A schematic diagram of the structure of a support ring provided in one embodiment of the present invention;

[0020] Figure 5 A three-dimensional diagram of a support ring and a slip ring assembled together according to an embodiment of the present invention;

[0021] Figure 6 A schematic diagram of the structure of an elastic skeleton, a guide assembly, a support ring, a sliding ring and a flexible filler provided in an embodiment of the present invention when assembled together;

[0022] Figure 7 A three-dimensional diagram of a guide assembly provided in one embodiment of the present invention;

[0023] Figure 8 A three-dimensional diagram of a guide ring provided in one embodiment of the present invention;

[0024] Fig. 9 A partially cutaway perspective view of a sliding retaining portion provided by an embodiment of the present invention;

[0025] Fig.10 A three-dimensional diagram of a partial structure of a sliding holding portion provided by an embodiment of the present invention;

[0026] Fig.11 A longitudinal half-section view of a guide ring provided in one embodiment of the present invention;

[0027] Reference numerals:

[0028] 100, machine base; 200, first mechanical arm; 300, second mechanical arm; 400, housing;

[0029] 10. Elastic skeleton;

[0030] 20. connection plate; 21. through hole;

[0031] 30. Guide assembly;

[0032] 31. guide ring; 311. second ring body; 3111. first opening; 312. sliding holding portion; 3121. housing; 3122. slot; 3123. rotating shaft; 3124. gear; 3125. rack; 3126. jack; 3127. pressing block; 3128. torsion spring;

[0033] 32, annular hoop body; 321, first ring body; 322, fourth opening; 323, connecting portion; 324, slide groove; 325, spacing;

[0034] 33. Locking structure;

[0035] 40. Support ring; 41. Guide groove; 42. Second opening;

[0036] 50. protection tube; 51. third opening;

[0037] 60. Slip ring;

[0038] 70. Flexible filler. DETAILED DESCRIPTION

[0039] The following embodiments of the technical solution of the present invention are described in detail in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solution of the present invention, and are therefore only used as examples, and cannot be used to limit the protection scope of the present invention.

[0040] It should be noted that, unless otherwise specified, the technical terms or scientific terms used in this application should have the common meanings understood by those skilled in the art to which the present invention belongs.

[0041] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as limiting the present invention.

[0042] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. In the description of the present invention, the meaning of "plurality" is two or more, unless otherwise clearly and specifically defined.

[0043] In this application, unless otherwise clearly specified and limited, the terms "installed", "connected", "connected", "fixed" and the like should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0044] In the present application, unless otherwise clearly specified and limited, a first feature being “above” or “below” a second feature may mean that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, a first feature being “above”, “above”, and “above” a second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. A first feature being “below”, “below”, and “below” a second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0045] like Figure 1 As shown, the present application provides a robot, specifically a SCARA robot, which includes a base 100, a first robot arm 200, a second robot arm 300 and a housing 400, wherein the housing 400 is disposed on the second robot arm 300. Figure 2-11 As shown, the present application provides a wire fixing device, which is installed on the above-mentioned SCARA robot. The wire fixing device in this embodiment includes an elastic frame 10, a connecting plate 20, a guide assembly 30, a support ring 40 and a protection tube 50.

[0046] The elastic skeleton 10 is tubular or rod-shaped, and the material can be metal or composite material, and the composite material can be glass fiber. A connecting plate 20 is respectively provided at both ends of the elastic skeleton 10, and each connecting plate 20 is fixedly connected to one end of the elastic skeleton 10, and the fixed connection is preferably a detachable connection such as a threaded connection and a snap connection. The connecting plate 20 has a plurality of through holes 21 distributed along the circumference, and the through holes 21 are used to allow cables to pass through. In this embodiment, the number of through holes 21 is preferably 5, and the two connecting plates 20 are respectively connected to the base and the housing 400 of the SCARA robot by means of a threaded connection or a bolt assembly connection.

[0047] A plurality of guide assemblies 30 are arranged at intervals along the extension direction of the elastic skeleton 10, and the plurality of guide assemblies 30 are located between the two connecting disks 20. Each guide assembly 30 includes a plurality of guide rings 31 distributed along the circumference of the elastic skeleton 10, and the guide rings 31 on the guide assembly 30 are arranged in a one-to-one correspondence with the through holes 21 on the connecting disk 20, so the number of guide rings 31 is also 5. The guide ring 31 has a first opening 3111 for the cable to pass through, and the guide ring 31 can be a metal ring or a plastic ring. Each guide assembly 30 can include only a plurality of guide rings 31, in which case each guide ring 31 is fixedly connected to the elastic skeleton 10, and can also include other components except the guide rings 31.

[0048] At least two support rings 40 are arranged along the extension direction of the elastic skeleton 10, and all the support rings 40 are located between the two connecting plates 20. When the number of the support rings 40 is 2, all the guide components 30 are located between the two support rings 40; when the number of the support rings 40 is greater than 2, all the guide components 30 are located between the two outermost support rings 40, and a certain number of guide components 30 are distributed between two adjacent support rings 40. A plurality of guide grooves 41 are arranged along the circumferential direction on each support ring 40, and the guide grooves 41 are arranged one by one with the guide rings 31, so the number of the guide grooves 41 is also 5, and the guide grooves 41 have second openings 42 for cables to pass through.

[0049] The protective tube 50 is sleeved outside the plurality of guide assemblies 30, and the two ends of the protective tube 50 are respectively connected to the support ring 40, and can rotate relative to the support ring 40. The protective tube 50 is a corrugated tube, but has a third opening 51 in the circumferential direction for the cable to pass through, and the third opening 51 completely penetrates the protective tube 50 along the extension direction of the protective tube 50. The number of protective tubes 50 is one less than the number of support rings 40. Since the traditional corrugated tube on the SCARA robot usually includes a straight line segment and a semicircular arc segment, and in order to facilitate the rotation of the protective tube 50, it is preferred that the number of protective tubes 50 is 3, one protective tube 50 is provided at the straight line segment, and two protective tubes 50 are provided at the semicircular arc segment.

[0050] When a cable is placed in the guide ring 31, in order to prevent the cable from being separated from the first opening 3111 during use, the opening size of the first opening 3111 is smaller than the diameter of the cable, so that when the cable is inserted from the first opening 3111 into the guide ring 31, the first opening 3111 of the guide ring 31 will be appropriately expanded. However, due to its different structural form, the guide groove 41 on the support ring 40 cannot be easily expanded like the guide ring 31, so the opening size of the second opening 42 thereon is larger than the diameter of the cable. For the third opening 51 on the protective tube 50, its opening size is larger than the second opening 42 for easy operation.

[0051] In actual use, Figure 6 As shown, in order to reduce the risk of the cable escaping from the first opening 3111 , the first openings 3111 on the five guide rings 31 are oriented upward as much as possible, and the third openings 51 on the protective tube 50 are oriented downward.

[0052] In this embodiment, when it is necessary to replace a cable, the third opening 51 of the protective tube 50 is rotated to a position directly opposite to the first opening 3111 corresponding to the cable to be replaced, and then the cable can be taken out from the guide ring 31 and the guide groove 41 on the support member, and finally removed through the third opening 51 on the protective tube 50. When installing, the cable is inserted into the corresponding guide ring 31 and the guide groove 41 on the support member through the third opening 51 on the protective tube 50. Therefore, when replacing a certain cable, it is not necessary to move other cables, and it is not necessary to remove the protective tube 50, so that the cable can be replaced very conveniently.

[0053] In one embodiment, Figure 7 As shown, in addition to the guide ring 31, the guide assembly 30 also includes other parts, specifically an annular hoop body 32 and a locking structure 33. The annular hoop body 32 is sleeved outside the elastic frame 10, and the guide ring 31 is installed on it. The locking structure 33 is used to lock the annular hoop body 32. Through the annular hoop body 32 and the locking structure 33, it is convenient to fix the guide assembly 30 on the elastic frame 10.

[0054] In one embodiment, Figure 7 As shown, the annular hoop body 32 includes a first ring body 321, a connecting portion 323 and a sliding groove 324. The first ring body 321 has a fourth opening 322, and two connecting portions 323 are arranged opposite to each other at the fourth opening 322 of the first ring body 321. The two connecting portions 323 are respectively connected to the two ends of the first ring body 321, and preferably the connecting portion 323 is integrally formed with the first ring body 321. A sliding groove 324 is arranged along the circumference of the first ring body 321, and the guide ring 31 is arranged in the sliding groove 324 and can slide in the sliding groove 324. When the guide ring 31 stops sliding, the guide ring 31 remains in the sliding groove 324. The locking structure 33 is preferably a bolt assembly, wherein the bolt passes through the two connecting portions 323.

[0055] Since the guide ring 31 will be appropriately expanded when the cable passes through the first opening 3111, when the number of guide rings 31 in each guide assembly 30 is greater, such as 6 or 7, the spacing 325 between adjacent guide rings 31 will be smaller, and the expansion movement of the guide ring 31 may be restricted. Therefore, in this embodiment, the guide ring 31 can move in the slide groove 324 and remain stationary after moving, so that when replacing the cable, the corresponding guide ring 31 or other guide rings 31 can be appropriately moved to increase the space around the guide ring 31 corresponding to the cable to be replaced, thereby facilitating the smooth insertion of the cable into the guide ring 31 or removal from the guide ring 31.

[0056] In one embodiment, Figure 7 As shown, the cross section of the slide groove 324 is convex, and the two ends of the slide groove 324 respectively maintain a certain distance 325 between the two connecting parts 323. The guide ring 31 includes a second ring body 311 and a sliding retaining part 312, wherein the second ring body 311 is provided with the above-mentioned first opening 3111, and the sliding retaining part 312 is fixedly connected to the second ring body 311 and can be moved from the above-mentioned distance 325 to the slide groove 324, and the sliding retaining part 312 can also be moved out of the slide groove 324 through the above-mentioned distance 325. Through the above-mentioned arrangement, it is convenient to install the guide ring 31 into the slide groove 324.

[0057] In one embodiment, Figure 9-11As shown, the sliding holding portion 312 includes a housing 3121, a rotating shaft 3123, a gear 3124, a rack 3125, a pressing block 3127 and a torsion spring 3128. Preferably, the outer shape of the housing 3121 is adapted to the slide groove 324, that is, it is also a convex shape. The rotating shaft 3123 passes through the housing 3121 and is rotatably connected to the housing 3121. One end of the rotating shaft 3123 located outside the housing 3121 is fixedly connected to the second ring body 311, and the other end extends into the housing 3121. The gear 3124 is arranged in the housing 3121, and is coaxially connected and fixedly connected to the other end of the rotating shaft 3123, so that the gear 3124 moves synchronously with the rotating shaft 3123. Two racks 3125 are arranged opposite to each other in the housing 3121. The racks 3125 are slidably connected to the inner wall of the housing 3121. Both racks 3125 are meshed with the gear 3124. One end of the rack 3125 can extend out of the housing 3121, and a clamping block 3127 is fixed to the other end of the rack 3125. The rack 3125 can drive the clamping block 3127 to move out of the housing 3121 and make the clamping block 3127 abut against the groove wall of the chute 324. It is preferred that the groove wall of the chute 324 and / or the surface of the clamping block 3127 be anti-slip treated to increase the friction force, thereby increasing the anti-slip ability of the clamping block 3127. The torsion spring 3128 is sleeved on the rotating shaft 3123. Preferably, a socket 3126 is provided on the gear 3124 for inserting one end of the torsion spring 3128, and a slot 3122 is provided on the inner wall of the shell 3121 for inserting the other end of the torsion spring 3128, so that the two ends of the torsion spring 3128 are restricted. The torsion spring 3128 is used to make the above-mentioned one end of the rack 3125 have a tendency to move outside the shell 3121.

[0058] In this embodiment, when the guide ring 31 needs to be moved, the second ring body 311 only needs to be slightly twisted to overcome the resistance of the torsion spring 3128, so that the rack 3125 is retracted into the housing 3121, so that the pressing block 3127 is separated from the groove wall of the slide groove 324, and the guide ring 31 can be moved. When the guide ring 31 is moved to a suitable position, the second ring body 311 is released, the pressing block 3127 is re-engaged with the groove wall of the slide groove 324, and the guide ring 31 is kept at the moved position. Therefore, this embodiment has the advantage of conveniently adjusting the position of the guide ring 31.

[0059] In one embodiment, Figure 6 and Figure 7As shown, the first openings 3111 on the two second ring bodies 311 closest to the fourth opening 322 are deflected in a direction away from the fourth opening 322. Generally, the arrangement of the five second ring bodies 311 (including the opening position of the first opening 3111 relative to the sliding holding portion 312) should be kept consistent. However, when the interval 325 between the five second ring bodies 311 is very small or there are more second ring bodies 311, so that the first openings 3111 on the two second ring bodies 311 closest to the fourth opening 322 have to face downward, this situation easily causes the cable to be separated from the two second ring bodies 311. Therefore, in this embodiment, the first openings 3111 on the two second ring bodies 311 are deflected by a certain angle in a direction away from the fourth opening 322, so that the first openings 3111 on the two second ring bodies 311 face upward, thereby reducing the possibility of the cable being separated from the first opening 3111, and ensuring the reliability of the cable fixing device.

[0060] In one embodiment, Figure 5 and Figure 6 As shown, it also includes a slip ring 60 disposed on the support ring 40 and rotatable along the circumference of the support ring 40. The slip ring 60 has a fifth opening corresponding to the second opening 42. Preferably, the opening size of the fifth opening is greater than or equal to the opening size of the fourth opening 322. The slip ring 60 is connected to the end of the protection tube 50, such as by bolt connection. The slip ring 60 can be slidably locked by a separate bolt so that it remains on the support ring 40 after rotation, or it can be automatically kept still after rotation by means of interference fit. By providing the slip ring 60, it is convenient to connect the protection tube 50 with the support ring 40.

[0061] In one embodiment, Figure 6 As shown, a flexible filler 70 is also included, which is arranged between two adjacent support rings 40 and located in the protection tube 50. The flexible filler 70 is used to cover the third opening 51. Preferably, the flexible filler 70 is a sponge. Covering the third opening 51 with a sponge can prevent dust from entering, thereby protecting the cable.

[0062] In the description of the present invention, a large number of specific details are described. However, it is understood that embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures and techniques are not shown in detail so as not to obscure the understanding of this description.

[0063] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein by equivalents. These modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention, and they should all be included in the scope of the claims and specification of the present invention.

Claims

1. A wire fixing device, characterized in that: include: An elastic skeleton (10) in the shape of a tube or a rod; Two connection plates (20) are provided, respectively fixedly connected to the ends of the elastic skeleton (10), and have a plurality of through holes (21) distributed along the circumferential direction; A plurality of guide assemblies (30) are arranged at intervals along the extension direction of the elastic skeleton (10), comprising a plurality of guide rings (31) arranged along the circumference of the elastic skeleton (10), the guide rings (31) having a first opening (3111); at least two support rings (40) are provided along the extension direction of the elastic skeleton (10), and a plurality of guide grooves (41) are provided along the circumferential direction, the guide grooves (41) are provided corresponding to the guide rings (31), and the guide grooves (41) have a second opening (42); and A protective tube (50) is sleeved outside the plurality of guide assemblies (30), an end of which is connected to the support ring (40) and is rotatable relative to the support ring (40), and has a third opening (51) in the circumferential direction for allowing cables to pass through; The guide assembly (30) further comprises: an annular hoop body (32), sleeved outside the elastic frame (10), on which the guide ring (31) is arranged; and A locking structure (33) used to lock the annular hoop body (32); The annular hoop body (32) comprises: The first ring body (321) has a fourth opening (322); two connecting portions (323) are arranged opposite to each other at the fourth opening (322) of the first ring body (321); and A sliding groove (324) is arranged along the circumference of the first ring body (321); The guide ring (31) is slidably disposed in the slide groove (324); The cross section of the slide groove (324) is in a convex shape, and a certain distance (325) is maintained between the two ends of the slide groove (324) and the two connecting parts (323); The guide ring (31) comprises: A second ring body (311) having the first opening (3111); and A sliding retaining portion (312) is fixedly connected to the second ring body (311) and can move from the spacing (325) into the sliding groove (324); The sliding holding portion (312) comprises: Shell (3121); A rotating shaft (3123) is rotatably connected to the shell (3121), one end of which is fixedly connected to the second ring body (311), and the other end of which extends into the shell (3121); A gear (3124) is coaxially connected to the other end of the rotating shaft (3123) and moves synchronously with the rotating shaft (3123); Two racks (3125) are arranged opposite to each other, are slidably connected to the inner wall of the housing (3121), mesh with the gear (3124), and one end of the gears can extend out of the housing (3121); A pressing block (3127) is fixedly arranged at one end of the rack (3125) and can abut against a groove wall of the sliding groove (324); and A torsion spring (3128) is sleeved on the rotating shaft (3123) and is used to make the one end of the rack (3125) have a tendency to move out of the housing (3121).

2. The wire fixing device according to claim 1, characterized in that: The first openings (3111) on the two second ring bodies (311) closest to the fourth opening (322) are deflected in a direction away from the fourth opening (322).

3. The wire fixing device according to claim 2, characterized in that: The gear (3124) is provided with a socket (3126) into which one end of the torsion spring (3128) can be inserted, and the inner wall of the housing (3121) is provided with a slot (3122) into which the other end of the torsion spring (3128) can be inserted.

4. The wire fixing device according to any one of claims 1 to 3, characterized in that: It also includes a slip ring (60) which is arranged on the support ring (40) and can rotate along the circumference of the support ring (40), the slip ring (60) having a fifth opening corresponding to the second opening (42), and the slip ring (60) is connected to the end of the protection tube (50).

5. The wire fixing device according to claim 4, characterized in that: It also comprises a flexible filler (70) which is arranged between two adjacent support rings (40) and located inside the protection tube (50), and the flexible filler (70) is used to cover the third opening (51).

6. A robot, characterized in that: The invention comprises a wire fixing device as described in any one of claims 1 to 5.

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