Wire clamping device and manipulator

The invention provides a wire clamping device and a manipulator and relates to the technical field of wire clamping devices. The wire clamping device comprises a fixing base, a wire guiding mechanismand a telescopic mechanism. A disc used for connecting the wire clamping device to the manipulator is arranged on one side of the fixing base. The wire guiding mechanism comprises a first wire guidingassembly and a second wire guiding assembly. The telescopic mechanism comprises a telescopic cylinder arranged in the center of the other side of the fixing base, and a first telescopic rod and a second telescopic rod which are configured at the output end of the telescopic cylinder. The first wire guiding assembly is fixedly connected with the first telescopic rod, and the second telescopic rodis fixedly connected with the second wire guiding mechanism, so that the telescopic cylinder drives the first telescopic rod and the second telescopic rod to move close to or away from each other, andthe first wire guiding asse