A cable guide device of an articulated robot is disclosed. The disclosed cable guide device can comprise: a base; at least one rotary arm rotatably coupled to the base in an articulated form; at least one cable passing through the base so as to be connected to the rotary arms; a cable guide block coupled to a driving unit within the base; a sliding groove formed on the outer peripheral surface of the cable guide block; and a cable friction reducing device member which is coupled to a portion of the cable accommodated in the base and which rotates along the sliding groove together with the portion of the cable according to the rotation of the rotary arms.