Rotary drive device and a robot arm of a robot equipped therewith

A robot arm of a robot, comprising at least two arm members connected to one another by means of an arm joint in a relatively pivotable manner, wherein the arm joint is formed by a rotary drive device which comprises a fluid-actuated rotary drive, which has a drive housing and a drive unit rotatable relative thereto about a main axis of the rotary drive by a controlled fluid application of at least one pivot piston arranged in the drive housing, wherein a drive shaft of the drive unit connected to the pivot piston projects from the drive housing at an axial front side of the drive housing with a drive section enabling a force output, and with a control valve arrangement comprising at least one electrically actuatable control valve, which is fluidically connected via a control fluid channel system to two drive chambers of the rotary drive separated from one another by the pivot piston in the drive housing, and which is designed to control the fluid pressurization of the two drive chambers for rotation and rotative positioning of the drive unit relative to the drive housing, wherein the rotary drive is formed as part of a drive assembly that can be handled as a single unit, which comprises, in addition to the rotary drive, at least the following components arranged in axial succession on the axial rear side of the drive housing opposite the axial front side:

• a valve carrier device carrying the control valve arrangement;
• a pneumatic connection unit, which has in an externally accessible manner an aeration connection connectable or connected with an external pressure source and a deaeration connection connectable or connected with an external pressure sink, wherein the control valve arrangement is connected with both the aeration connection and with the deaeration connection;
• and
• an electronic control unit connected electronically with the control valve arrangement for the electrical control thereof,
• wherein the drive section of the drive shaft and the drive housing of the fluid-operated rotary drive each have a mounting interface to which one of the arm members of the robot arm is mounted.