Patent ID: 7230402

Claim:
A pivoting apparatus, of an industrial robot, including a fixed part, a pivoting part that pivots with respect to the fixed part, and a front end that operates through the pivoting part, the pivoting apparatus comprising: a motor comprising a first shaft having a centrally penetrating first hollow portion; a brake having a centrally penetrating second hollow portion, for releasing and halting the motor, by making the first shaft be engaged with and fixed in the second hollow portion; an encoder having a centrally penetrating third hollow portion, for detecting a pivoting angle of the motor, by making the first shaft be engaged with and fixed in the third hollow portion; a speed reducer having a second shaft having a centrally penetrating fourth hollow portion, for forming, by making the second shaft be coupled with and communicated with the first shaft, a communicating hollow portion that is penetrated by the first and the fourth hollow portions, and for reducing the rotating speed of the first shaft, the brake being coupled with and fixed in the pivoting part and the fixed part; a first bearing including a first inner ring whose center is arranged coaxially with the communicating hollow portion, and including a first outer ring that is fixed to the fixed part; a cylindrical pipe member having a first end coupled to and fixed in the first inner ring, and having a second end which is coupled to and fixed in the pivoting part, the cylindrical pipe member being inserted with play into the communicating hollow portion and having a through-hole; a cable having a first end coupled to and fixed in the fixed part, and having a second end which is coupled to and fixed in the pivoting part and is inserted into the through-hole while being connected with the front end.