The invention relates to a robot joint holding brake (5) comprising a brake housing (6), a first (7.1) and a second pawl (7.2) pivotably mounted in the brake housing (6), with a first (8.1) and a second head section (8.2), a toothed wheel (10) rotatably mounted in the brake housing (6) with teeth (11) homogeneously distributed around the periphery, two respective adjacent teeth (11) thereof each defining a hole (12) in the toothed wheel (10), a first (9.1) and a second clamping device (9.2) designed to pivot the respective pawls (7.1, 7.2) against the toothed wheel (10) in such a way that the head section (8.1, 8.2) enters one of the holes (12), in a respective associated engaging position of rotation of the toothed wheel (10), in order to stop the robot joint holding brake (5), in addition to a magnet (14.1, 14.2) which is designed, when activated, to hold the pawls (7.1, 7.2) outside the holes (12) of the toothed wheel (10), against the action of the clamping devices (8.1, 8.2), in order to hold the robot joint holding brake (5) in the released state thereof. The invention further relates to an associated robot (1) comprising at least one such robot joint holding brake (5).
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