A workpiece conveying apparatus for a pressing machine, comprising: a first arm supported at a proximal end side thereof through intermediation of a first joint so as to be freely rotatable within a substantially horizontal plane; a second arm supported at a proximal end side thereof on a distal end side of the first arm through intermediation of a second joint so as to be freely rotatable within the substantially horizontal plane; a workpiece holding device, which is supported on a distal end side of the second arm through intermediation of a third joint so as to be freely rotatable within the substantially horizontal plane, and is configured to releasably hold a workpiece; a first arm drive mechanism, which is configured to drive the first arm to rotate about the first joint; a second arm drive mechanism, which is configured to drive the second arm to rotate about the second joint with respect to the first arm; a workpiece holding device rotation drive mechanism, which is configured to drive the workpiece holding device to rotate about the third joint with respect to the second arm; and a tilt drive mechanism, which is configured to drive the workpiece holding device to rotate about a long axis of the workpiece holding device through intermediation of a fourth joint with respect to the distal end of the second arm characterized in that a tilt drive motor being a drive source of the tilt drive mechanism is mounted to the vicinity of the second joint, and wherein a transmission system of a driving force from the tilt drive motor to the workpiece holding device is accommodated on an inner side of the second arm. a first arm supported at a proximal end side thereof through intermediation of a first joint so as to be freely rotatable within a substantially horizontal plane; a second arm supported at a proximal end side thereof on a distal end side of the first arm through intermediation of a second joint so as to be freely rotatable within the substantially horizontal plane; a workpiece holding device, which is supported on a distal end side of the second arm through intermediation of a third joint so as to be freely rotatable within the substantially horizontal plane, and is configured to releasably hold a workpiece; a first arm drive mechanism, which is configured to drive the first arm to rotate about the first joint; a second arm drive mechanism, which is configured to drive the second arm to rotate about the second joint with respect to the first arm; a workpiece holding device rotation drive mechanism, which is configured to drive the workpiece holding device to rotate about the third joint with respect to the second arm; and a tilt drive mechanism, which is configured to drive the workpiece holding device to rotate about a long axis of the workpiece holding device through intermediation of a fourth joint with respect to the distal end of the second arm characterized in that a tilt drive motor being a drive source of the tilt drive mechanism is mounted to the vicinity of the second joint, and wherein a transmission system of a driving force from the tilt drive motor to the workpiece holding device is accommodated on an inner side of the second arm.