WRIST APPARATUS AND INNER-CABLE ROBOT HAVING THE SAME

摘要

The present invention relates to a wrist device, and a cable embedded robot having the same. The wrist device comprises: an arm base installed in an upper frame, rotating around an arm base shaft; a connection arm installed in the arm base, rotating around a connection shaft; a tool arm installed in the connection arm, rotating around a tool arm shaft while a tool equipment is installed thereon; and a recover unit installed in the arm base, moving and recovering a cable in response to a drive of the wrist device.