A ROBOT ARM CONNECTING END, AN INSTRUMENT DRIVING MODULE AND A ROBOT COMPRISING THEREOF

摘要

The present invention relates to a robot arm connecting end, an instrument driving module, and a robot including the same. According to an embodiment of the present invention, the instrument driving module comprises: a transfer disk including a disk body portion and a power transfer protrusion provided on one side of the disk body portion; and an alignment member including a non-constrained groove where the power transfer protrusion is penetrated, and a constrained groove which is concave toward one side from the non-constrained groove, and capable of being slid with respect to the transfer disk. In accordance with a position of the alignment member, the power transfer protrusion can be selectively inserted into the constrained groove. According to an embodiment of the present invention, since a position of the instrument driving module can be automatically aligned by the alignment member, a user can release trouble to manually align the position of the instrument driving module. In addition, when the instrument driving module is diametrically wrongly aligned, the user can easily check the same with the naked eye.