The present invention relates to a driving device for a painting robot and a painting robot including the same. The driving device for a painting robot comprises: a first spray device for spraying paint to an object; a power transmission part for transmitting a driving force, which is provided by a driving part, to the first spray device; a backlash adjusting part for adjusting the backlash of the first spray device and the power transmission part; and a guide device for guiding the rotation of the backlash adjusting part so that the backlash adjusting part can rotate around a first rotational axis. The power transmission part is eccentrically combined with the backlash adjusting part while being separated from the first rotational axis, and the backlash adjusting part rotates around the first rotational axis to adjust the backlash between the first spray device and the power transmission part so that the power transmission part can move. According to the present invention, an additional process can be prevented from generating in the process of adjusting the backlash of the first spray device and the power transmission part since the backlash of the first spray device and the power transmission part can be adjusted by rotating a main body of adjustment while the power transmission part is inserted into an insertion hole.
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