Patent ID: 7253578

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 penetrated second hollow portion, for releasing and halting the motor, by making the first shaft be engaged with and fixed to 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 to the third hollow portion; a speed reducer comprising a second shaft having a centrally penetrating fourth hollow portion, for forming, by making the second shaft be coupled with and fixed to 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 second inner ring whose center is arranged coaxially with the communicating hollow portion, and including a second outer ring that is fixed to the pivoting part; a cylindrical pipe member whose one end is coupled to and fixed in the second inner ring, and the other end of which is coupled to and fixed in the fixed part, the cylindrical pipe member being inserted with play into the communicating hollow portion and having a through hole; a cable whose one end is coupled to and fixed in the fixed part, and the other end of which is coupled to and fixed in the pivoting part and is inserted into the penetrated hollow while being connected with the front end.