The robotic articulation of robot and with at least one such robot joint

The invention relates to a robot joint (4.1, 4.2) comprising a robot member (6), a on the robot limb (6) rotatably mounted drive wheel (7) and on the robot limb (6) rotatably mounted driven wheel (8), a drive wheel ( 7) (with the output gear 8) for transmitting a driving torque coupling gear device (9) and a drive wheel (7) driving the motor (M1), whose motor shaft (14) for introducing the drive torque via a drive connection (13) (with the drive gear 7) is connected, further comprising a safety clutch (15) which is designed to separate the driving connection (13) between the motor shaft (14) and the driven wheel (8) when it exceeds a predetermined limit torque, and a falls below the predetermined limit torque the drive connection (13) between the motor shaft (14) and restore the output gear (8), and a sensor device (21) is formed, the angular position of the Abtri ebsrads (8) to be detected. The invention also relates to an associated robot (1) having at least one such robot joint (4.1, 4.2).