Robot wrist and robot

The invention discloses a robot wrist and a robot, and belongs to the technical field of automatic control. The robot wrist comprises a wrist body, a first motor, a swing body, a second motor, a first transmission device, a third motor and a second transmission device. The first motor drives the wrist body to rotate around the axis of the first motor, the second motor and the first transmission device drive the swing body to rotate around axes of the second motor and the first transmission device, and the third motor and the second transmission device drive fingers of the robot to rotate around the axis of an output shaft of the second transmission device; and the axis of the swing body is perpendicular to the axis of the wrist body, and the axis of the output shaft of the second transmission device is perpendicular to the axis of the swing body. The robot wrist has three freedom degrees, and flexibility is higher.