Cable mounting device and robot

Abstract

The utility model relates to a cable mounting device and a robot. The cable mounting device comprises a mounting plate and a traction fixing part, the mounting plate is used for being mounted and fixed to a preset position, the traction fixing part comprises a traction plate, a fixing hole penetrating in the thickness direction of the traction plate is formed in the traction plate, the fixing hole is used for fixing a cable, and the traction plate is used for achieving the traction effect on the cable. According to the cable mounting device and the robot, the cable is fixed through the traction fixing part, cable binding can be achieved in a narrow space in the mechanical arm, the problem that the cable is difficult to fix in the narrow space is solved, the cable is pulled through the arrangement of the traction plate, the risk of cable friction is reduced, and the cable mounting efficiency is improved. Therefore, the cable can be fixed and pulled conveniently.

Description

Technical Field

[0001] The present application relates to the field of robot technology, and in particular to a cable installation device and a robot. Background Art

[0002] In order to ensure reliable routing of cables in the robot body cavity, it is generally necessary to fix the cables in the robot body cavity.

[0003] Under the market requirement of lightweight and compactness as the key competitive advantages of robots, the structural design of robot bodies is becoming more and more compact. The internal space of robots, especially inside the robotic arms, is relatively small, making it difficult to fix cables. Utility Model Content

[0004] Based on this, a cable installation device and a robot are provided, which can conveniently fix cables inside a narrow robotic arm, solving the problem of difficulty in fixing cables in a narrow space.

[0005] A cable installation device, applied to a robot, comprising:

[0006] A mounting plate, the mounting plate is used to be installed and fixed at a preset position;

[0007] The traction fixing part comprises a traction plate, on which a fixing hole is arranged penetrating along the thickness direction of the traction plate, the fixing hole is used to fix the cable, and the traction plate is used to pull the cable.

[0008] In one of the embodiments, the mounting plate is provided with a through hole extending through the mounting plate in a thickness direction thereof, and the through hole is used to mount the mounting plate at the preset position.

[0009] In one embodiment, the traction plate is provided with at least two groups of fixing holes arranged in sequence along the first direction, and the fixing hole groups include two fixing holes arranged at intervals along the second direction;

[0010] The first direction and the second direction intersect each other.

[0011] In one embodiment, the fixing hole group includes fixing holes and fixing slots arranged on the traction plate at intervals along the second direction, the fixing slots are recessed in the traction plate along a direction parallel to the plane where the traction plate is located, and the opening direction of the fixing slots is away from the fixing holes.

[0012] In one of the embodiments, the traction fixing portion further includes a binding piece, the binding piece is passed through the fixing hole group, and defines a traction channel for the cable to pass through between the binding piece and the traction plate.

[0013] In one embodiment, the mounting plate and the pulling plate are connected to each other at a first preset angle.

[0014] In one embodiment, the traction fixing portion includes two protective plates, the two protective plates are respectively arranged on both sides of the traction plate along the first direction, and one of the two protective plates is connected to the traction plate at a second preset angle with a first axis parallel to the second direction, and the other of the two protective plates is connected to the traction plate at a third preset angle with a second axis parallel to the second direction;

[0015] The first direction and the second direction intersect each other.

[0016] In one embodiment, the mounting plate is disposed on one side of the traction plate along the second direction, and the mounting plate is parallel to the traction plate, and along the thickness direction of the traction plate, the mounting plate is spaced apart from the traction plate, and along the first direction, the mounting plate is spaced apart from the traction plate;

[0017] The cable installation device includes a connecting plate connected between the installation plate and the traction plate;

[0018] The first direction, the second direction and the thickness direction of the traction plate intersect each other.

[0019] In one embodiment, the cable installation device comprises at least two installation plates spaced apart along the second direction, the installation plates are arranged on one side of the traction plate along the first direction, and the installation plates are parallel to the traction plate;

[0020] The mounting plate and the traction plate are arranged in a stepped manner, and the cable mounting device comprises a stepped plate connected between the mounting plate and the traction plate;

[0021] The first direction and the second direction intersect each other.

[0022] According to another aspect of the present application, a robot is provided, comprising the above-mentioned cable installation device.

[0023] The above-mentioned cable installation device and robot, by traction and fixing the cables, can realize cable bundling in the narrow space inside the robot arm, solving the problem of difficulty in fixing cables in a narrow space, and by setting the traction plate, the cables are pulled to reduce the risk of cable friction, thereby facilitating the fixed traction of the cables. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic structural diagram of a cable installation device of a first embodiment.

[0025] Figure 2 for Figure 1 The diagram shows the structure of the cable installation device of the first embodiment installed on a robot.

[0026] Figure 3 for Figure 1 The cable installation device of the first embodiment is shown as a schematic structural diagram of another angle when installed on a robot.

[0027] Figure 4 for Figure 1 The structure diagram of an embodiment in which the fixing hole group in the first embodiment includes fixing holes and fixing notches is shown.

[0028] Figure 5 It is a schematic structural diagram of a cable installation device of a second embodiment.

[0029] Figure 6 for Figure 5 The diagram is a schematic structural diagram of a cable installation device of the second embodiment installed on a robot.

[0030] Figure 7 It is a schematic structural diagram of a cable installation device of a third embodiment.

[0031] Figure 8 for Figure 7 The structure diagram of the cable installation device of the third embodiment is shown as being installed on a robot.

[0032] Description of reference numerals:

[0033] 10. Robots;

[0034] 100, cable installation device; 111, installation plate; 112, perforation; 120, traction fixing portion; 121, traction plate; 122, fixing hole; 123, protection plate; 124, fixing hole group; 125, fixing notch; 130, connection plate; 140, step plate;

[0035] 210, first mechanical arm; 220, second mechanical arm; 230, transitional mechanical arm; 240, wire passing tube;

[0036] F1, first direction; F2, second direction. DETAILED DESCRIPTION

[0037] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0038] 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 application 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 a limitation on the present application.

[0039] In addition, the terms "first" and "second" 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. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of this application, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0040] 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, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0041] 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.

[0042] It should be noted that when an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. When an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. The terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used herein are for illustrative purposes only and are not intended to be the only implementation method.

[0043] As lightweight and compactness are the key competitive advantages of robots, the robot body structure design is becoming more and more compact, and the internal cavity space is becoming narrow and tortuous. The routing of cables in the robot body is becoming increasingly difficult, prone to interference and wear, resulting in poor cable stability and robot failure. In order to ensure reliable routing of cables in the robot body cavity, it is generally necessary to set cable sheet metal or other structural parts in the robot body cavity to fix the cables.

[0044] However, the following problems exist when guiding and fixing the cables inside the robot body in the related art: 1. The contact area between the structure of the cable installation device in the related art and the cable is too large, which increases the friction between the cable and the cable installation device while fixing the cable. 2. The structural design of the cable installation device in the related art is relatively unreasonable, with low space utilization, which easily hinders the cable threading operation and the cable is easily stuck. That is, the structure of the cable installation device in the related art is unreasonable, with low space utilization, and the contact area between the cable installation device and the cable is too large, which easily causes friction, easily damages the cable, and is not conducive to the progress of the cable threading operation.

[0045] Based on the above problems, the present application aims to provide a cable installation device 100 and a robot 10, which have a reasonable structure, can improve space utilization, can meet the reliability of wiring in a narrow space, have smooth bending transitions, avoid cable jams, reduce the contact friction between the cable installation device 100 and the cable, and improve the usability and adaptability of the cable installation device 100 of the present application.

[0046] Combined with reference Figure 1 , Figure 5 and Figure 7 As shown, the cable installation device 100 provided in the present application includes a mounting plate 111 and a traction fixing portion 120, the mounting plate 111 is used to be installed and fixed at a preset position, the traction fixing portion 120 includes a traction plate 121, and the traction plate 121 is provided with a fixing hole 122 that passes through the traction plate 121 along the thickness direction of the traction plate 121, the fixing hole 122 is used to fix the cable, and the traction plate 121 is used to pull the cable.

[0047] In some embodiments, the preset position includes the first robotic arm 210 of the robot 10, or the second robotic arm 220, or between the first robotic arm 210 and the second robotic arm 220. It is understandable that the space inside the robotic arm is small, especially the space at the connection between the first robotic arm 210 and the second robotic arm 220 is particularly small and the layout is complex, making it difficult to lay out cables between the first robotic arm 210 and the second robotic arm 220, and easily causing cable damage. Therefore, in order to make the layout of cables more reasonable in a narrow space, the preset position may specifically include a position in the first robotic arm 210 close to the connection between the two robotic arms, or a position in the second robotic arm 220 close to the connection between the two robotic arms. In addition, if Figure 8 As shown, the first robotic arm 210 and the second robotic arm 220 may be connected via a transition robotic arm 230 , and the preset position may specifically include within the transition robotic arm 230 , that is, between the first robotic arm 210 and the second robotic arm 220 .

[0048] The cable installation device 100 of the present application fixes the cables through the traction fixing part 120, and can realize cable bundling in the narrow space of the robot arm, which solves the problem of difficulty in fixing cables in a narrow space. The traction plate 121 is provided to pull the cables to reduce the risk of cable friction, thereby facilitating the fixed traction of the cables. That is, the traction fixing part 120 of the present application allows the cables to be smoothly bent and transitioned on the cable installation device 100, with smooth routing and convenient fixing.

[0049] In some embodiments, the cables include motor cables, air tubes, and IO cables, among others, wherein the IO cables are input / output cables, which refer to wires used for data transmission in computer hardware and electronic devices.

[0050] The mounting plate 111 is provided with a through hole 112 that penetrates along the thickness direction of the mounting plate 111. The through hole 112 is used to install the mounting plate 111 at a preset position, so as to achieve the fixation of the cable installation device 100 at the preset position of the robot 10, thereby facilitating the traction and fixation of the cable by the traction and fixation part 120. In some embodiments, the mounting plate 111 may be provided with at least one through hole 112, such as two or more through holes 112, to improve the fixing stability of the mounting plate 111.

[0051] The traction plate 121 is provided with at least two groups of fixing holes 124 arranged in sequence along the first direction F1. In some embodiments, the fixing hole group 124 includes two fixing holes 122 arranged at intervals along the second direction F2, wherein the first direction F1 and the second direction F2 intersect each other. The traction fixing portion 120 also includes a binding piece, which is inserted into the fixing hole group 124, or in other words, the binding piece passes through the two fixing holes 122 of the fixing hole group 124 in sequence, and limits a traction channel for the cable to pass through between the traction plate 121. It can be understood that the two fixing holes 122 of the fixing hole group 124 cooperate with the binding piece to realize the bundling and fixing of the cable, and the bundling is more convenient, and the setting of at least two groups of fixing hole groups 124 arranged in sequence along the first direction F1 can realize the traction effect of the cable along the first direction F1, and strengthen the fixing effect, which is conducive to traction of the cable, avoids sharp bending of the cable, makes the cable routing smooth and smooth, and is conducive to improving the life of the cable.

[0052] In some embodiments, Figure 4 As shown, the fixing hole group 124 includes fixing holes 122 and fixing notches 125 arranged on the traction plate 121 at intervals along the second direction. The fixing notches 125 are recessed in the traction plate 121 in a direction parallel to the plane where the traction plate 121 is located, and the opening direction of the fixing notches 125 is away from the fixing holes 122. It can be understood that the setting of the fixing notches 125 is more convenient for the binding of the binding piece. The binding piece passes through the fixing hole 122 and is limited in the fixing notches 125 to form a traction channel for the cable to pass through, without passing through the fixing hole 122 twice, which relatively saves the binding time and improves the convenience of binding.

[0053] It should be noted that when tying, an appropriate amount of slack must be left to form a suitable traction channel to avoid excessive or insufficient free movement of the cables. If the cables move too much, they are prone to contact and rub against other parts of the robot 10 body, causing wear and tear of the cables; if the cables move too little, there is a risk of being pulled apart, and it is also possible to damage weak locations inside the robot 10 body, plastic parts or their materials.

[0054] Combined with reference Figure 1 , Figure 2 and Figure 3 As shown, Figure 1 FIG. 1 is a schematic structural diagram of a cable installation device 100 according to a first embodiment. Figure 2 for Figure 1 The structure diagram of the cable installation device 100 of the first embodiment is installed on the robot 10. Figure 3 for Figure 1 The cable installation device 100 of the first embodiment is shown as a schematic structural diagram from another angle when installed on the robot 10 .

[0055] The mounting plate 111 and the traction plate 121 are connected to each other at a first preset angle. The traction fixing portion 120 includes two protective plates 123, which are respectively arranged on both sides of the traction plate 121 along the first direction F1, and one of the two protective plates 123 is connected to the traction plate 121 at a second preset angle with a first axis parallel to the second direction F2, and the other of the two protective plates 123 is connected to the traction plate 121 at a third preset angle with a second axis parallel to the second direction F2. The arrangement of the two protective plates 123 is conducive to protecting the cable, avoiding cable wear and breakage, and protecting the cable from friction with environmental structural parts around the preset position.

[0056] The installation plate 111 and the traction plate 121 are at a first preset angle, one of the two protective plates 123 and the traction plate 121 are at a second preset angle, and the other of the two protective plates 123 and the traction plate 121 are at a third preset angle, so that the cable installation device 100 in this embodiment is contoured to the surrounding environment of the preset position of the second robotic arm 220 of the robot 10, that is, the cable installation device 100 in this embodiment is adapted to the shape around the preset position, so that it is convenient to occupy a smaller space while achieving smooth bending transition of the cable, smooth routing, and reducing the risk of cable wear.

[0057] like Figure 1-Figure 3 In this embodiment, the preset position is the second mechanical arm 220 of the robot 10, and the cable installation device 100 is installed on the second mechanical arm 220. It is required that the distance between the preset position where the cable installation device 100 is installed and the first mechanical arm 210 meets the space requirements for cable binding, and the smooth transition of the cables is achieved as much as possible. The traction plate 121 and at least two groups of fixing holes 124 of the present application can better achieve the traction transition of the cables. At the same time, the height of the fixing hole group 124 of the present application relative to the mounting plate 111 along the second direction F2 can be set so that the cables in the traction channel are as flush as possible with the center of the wire tube 240, so as to reduce the bending and twisting of the cables in height, facilitate the smooth bending transition of the cables, and reduce cable wear.

[0058] It can be understood that the cable passes through the wire tube 240 of the first robotic arm 210, starts from the port of the first robotic arm 210 toward the second robotic arm 220, is fixed and tied at a preset position by the cable installation device 100, and then the motor cable is connected to the motor, the air pipe is connected to the air pipe joint, and the IO cable is connected to the IO terminal.

[0059] See also Figure 5-Figure 6 As shown, Figure 5 FIG. 1 is a schematic structural diagram of a cable installation device 100 according to a second embodiment. Figure 6 for Figure 5 The structure diagram of the cable installation device 100 of the second embodiment is installed on the robot 10.

[0060] The mounting plate 111 is disposed on one side of the traction plate 121 along the second direction F2, and the mounting plate 111 is parallel to the traction plate 121. The mounting plate 111 and the traction plate 121 are spaced apart along the thickness direction of the traction plate 121. The mounting plate 111 and the traction plate 121 are spaced apart along the first direction F1, wherein the first direction, the second direction and the thickness direction of the traction plate 121 intersect each other. In this embodiment, the preset position where the cable installation device 100 is located can be on the first mechanical arm 210, specifically, it can be on the first mechanical arm 210 close to the second mechanical arm 220, so as to achieve the traction of the cable between the first mechanical arm 210 and the second mechanical arm 220.

[0061] Along the thickness direction of the traction plate 121, the mounting plate 111 and the traction plate 121 are spaced apart, mainly to make the height of the traction channel on the traction plate 121 as flush as possible with the center height of the wire tube 240, thereby reducing the bending and twisting of the cable in height, facilitating the smooth bending transition of the cable and reducing cable wear.

[0062] Along the first direction F1, the mounting plate 111 and the traction plate 121 are spaced apart from each other, mainly to make full use of the narrow space inside the robotic arm, or to make full use of the narrow space inside the robotic arm, so that the cable installation device 100 can be contoured to the surrounding structural shape of the inner cavity of the robotic arm, that is, the cable installation device 100 in this embodiment is adapted to the shape around the preset position, so as to occupy a smaller space while achieving smooth bending transition of the cable, smooth routing, and reduced risk of cable wear.

[0063] In this embodiment, the cable installation device 100 includes a connecting plate 130 connected between the mounting plate 111 and the traction plate 121, for realizing the connection between the mounting plate 111 and the traction plate 121. The connecting plate 130, the mounting plate 111 and the traction plate 121 can be integrally formed or spliced, which is not limited here.

[0064] See also Figure 7 and Figure 8 As shown, Figure 7 FIG. 1 is a schematic structural diagram of a cable installation device 100 according to a third embodiment. Figure 8 for Figure 7 The structure diagram of the cable installation device 100 of the third embodiment is installed on the robot 10.

[0065] In this embodiment, the cable installation device 100 includes at least two mounting plates 111 spaced apart along the second direction F2, and the mounting plates 111 are arranged on one side of the traction plate 121 along the first direction F1. In this embodiment, a through hole 112 is provided on the mounting plate 111, and each of the at least two mounting plates 111 spaced apart along the second direction F2 is provided with a through hole 112, so that the installation stability of the mounting plate 111 can be improved by the at least two through holes 112 spaced apart in the second direction F2, and the design of spacing apart at least two mounting plates 111 improves the utilization rate of the area of ​​the hole on a single mounting plate 111, that is, it saves unnecessary area share, saves material, and achieves the effect of reducing weight and increasing efficiency.

[0066] In this embodiment, the mounting plate 111 is parallel to the traction plate 121, and the mounting plate 111 and the traction plate 121 are arranged in a step manner, or in other words, along the thickness direction of the mounting plate 111, the mounting plate 111 and the traction plate 121 are arranged in a step manner, and the cable installation device 100 includes a step plate 140 connected between the mounting plate 111 and the traction plate 121. Figure 8 The preset position of this embodiment is the second robotic arm 220, and is specifically located at a portion of the second robotic arm 220 close to the first robotic arm 210. This embodiment is applicable to a robot 10 structure in which a transition robotic arm 230 is provided between the first robotic arm 210 and the second robotic arm 220. The arrangement of the cable installation device 100 of this embodiment enables a portion of the traction plate 121 to be easily extended into the transition robotic arm 230 and toward the first robotic arm 210, thereby lengthening the extension traction of the cable. When there is a transition robotic arm 230 between the first robotic arm 210 and the second robotic arm 220, the cable can still be fixedly pulled well, and there is no need to worry about excessive wear of the cable due to insufficient cable traction caused by the transition robotic arm 230.

[0067] In some embodiments, the edges of the cable installation device 100 are rounded to reduce cable wear, and the side of the traction plate 121 facing the cable and the relative movement position of the cable are coated with lubricating grease to reduce cable friction, reduce noise, and reduce frictional heat of the cable.

[0068] In some embodiments, the cable installation device 100 may be a sheet metal bending part, an aluminum plate bending part, a machined part, a plastic machined part, a plastic molded part, or a 3D printed part.

[0069] In some embodiments, the mounting plate 111 of the cable installation device 100 and the robotic arm can be locked by screws passing through the through holes 112, or they can be bonded by glue. The cable can be limited on the traction plate 121 of the cable installation device 100 by bundling with a binding piece passing through the fixing hole 122, or the cable can be bonded to the traction plate 121 by glue.

[0070] The present application also provides a robot 10, comprising the above-mentioned cable installation device 100. The robot 10 comprises a first mechanical arm 210, a second mechanical arm 220 and a wire tube 240. The cable installation device 100 can be arranged in the first mechanical arm 210 or the second mechanical arm 220. The wire tube 240 is used to wrap and accommodate cables. The robot 10 also comprises a transition mechanical arm 230. In some embodiments, the transition mechanical arm 230 is connected between the first mechanical arm 210 and the second mechanical arm 220.

[0071] The cable installation device 100 and the robot 10 of the present application provide a reasonable cable routing solution for the interior of the robot 10 with a compact space. The structural design of the cable installation device 100 fits the internal structure of the robot 10, maximizes space utilization, and facilitates smooth cable routing and transition. The contact area between the cable installation component and the cable is small, avoiding friction and obstruction to the cable.

[0072] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0073] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the utility model patent. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application shall be subject to the attached claims.

Claims

1. A cable installation device, characterized in that ,applied to a robot, the cable installation device comprises: A mounting plate, wherein the mounting plate is used to be mounted and fixed at a preset position, wherein the preset position includes inside the first mechanical arm of the robot, or inside the second mechanical arm, or between the first mechanical arm and the second mechanical arm; The traction fixing part comprises a traction plate, on which a fixing hole is arranged penetrating along the thickness direction of the traction plate, the fixing hole is used to fix the cable, and the traction plate is used to pull the cable.

2. The cable installation device according to claim 1, characterized in that: The mounting plate is provided with a through hole which penetrates along the thickness direction of the mounting plate, and the through hole is used to mount the mounting plate at the preset position.

3. The cable installation device according to claim 1, characterized in that: The traction plate is provided with at least two groups of fixing holes arranged in sequence along the first direction, and the fixing hole groups include two fixing holes arranged at intervals along the second direction; The first direction and the second direction intersect each other.

4. The cable installation device according to claim 3, characterized in that: The fixing hole group includes fixing holes and fixing notches arranged on the traction plate at intervals along the second direction. The fixing notches are recessed in the traction plate along a direction parallel to the plane where the traction plate is located, and the opening direction of the fixing notches is away from the fixing holes.

5. The cable installation device according to any one of claims 3 to 4, characterized in that: The traction fixing portion further includes a binding piece, which is passed through the fixing hole group and defines a traction channel for the cable to pass through between the binding piece and the traction plate.

6. The cable installation device according to claim 1, characterized in that: The mounting plate and the pulling plate are connected to each other at a first preset angle.

7. The cable installation device according to claim 6, characterized in that: The traction fixing portion includes two protective plates, the two protective plates are respectively arranged on both sides of the traction plate along the first direction, and one of the two protective plates is connected to the traction plate at a second preset angle along a first axis parallel to the second direction, and the other of the two protective plates is connected to the traction plate at a third preset angle along a second axis parallel to the second direction; The first direction and the second direction intersect each other.

8. The cable installation device according to claim 1, characterized in that: The mounting plate is arranged on one side of the traction plate along the second direction, and the mounting plate is parallel to the traction plate. Along the thickness direction of the traction plate, the mounting plate and the traction plate are spaced apart. Along the first direction, the mounting plate and the traction plate are spaced apart. The cable installation device includes a connecting plate connected between the installation plate and the traction plate; The first direction, the second direction and the thickness direction of the traction plate intersect each other.

9. The cable installation device according to claim 1, characterized in that: The cable installation device comprises at least two installation plates spaced apart along the second direction, the installation plates being arranged on one side of the traction plate along the first direction, and the installation plates being parallel to the traction plate; The mounting plate and the traction plate are arranged in a stepped manner, and the cable mounting device comprises a stepped plate connected between the mounting plate and the traction plate; The first direction and the second direction intersect each other.

10. A robot, characterized in that: Comprising the cable installation device as described in any one of claims 1-9.

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