To provide a swinging joint mechanism preventing dropping of an output shaft in case of belt breakage.

The swinging joint mechanism is provided with: an output shaft 12; a transmission member (for example, a belt 2) for transmitting the power of a motor 1 to the output shaft 12; a brake 5 for retaining the output shaft 12 in an operating state; a sensor 6 which detects breakage of the transmission member and outputs a detection signal Sd; and a brake drive device which outputs a control signal for setting the brake to an operating state to the brake, based on the detection signal Sdoutput from the sensor 6.

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