Well, saying you want to learn a combat sport in the absence of potential for injury is like saying you want to be a SCUBA diver but don't want to get wet. You're going to get banged up at some point, it's just the name of the game.
That being said, in my experience, most of the gnarly injuries I've seen in BJJ arose because someone got a hard head and didn't submit when they probably should have. Even if someone doesn't have the submission quite right, trying to grit through an "almost there" joint lock is dumb. And every time I see someone spin out of leg lock, I visibly wince.
So check your ego at the door, and if something feels like it might get dicey, tap out. If you're at a good gym, people will get it. If people don't get it, find another gym.