This paper investigates an energy-constrained relay-assisted secure communication system in the presence of a legitimate source-destination pair and a passive eavesdropper with imperfect channel state information (CSI). The energy-constrained relay exploits a power splitting (PS) protocol to simultaneously harvest energy and decode information from the received signal from the source, and then forwards the confidential signal to the full-duplex (FD) destination while it simultaneously transmits artificial noise (AN) to confuse the passive eavesdropper. This robust beamforming design is developed by maximizing the secrecy rate under the constraints of energy harvesting (EH) requirement at the relay and AN transmit power at the destination. Specifically, we formulate the joint relay beamforming and PS ratio as well as the AN power optimization as a non-convex quadratically-constrained problem. In order to circumvent this non-convexity issue, we decompose the original problem into three subproblems which can be determined by the proposed semidefinite relaxation (SDR) and successive convex optimization methods. Furthermore, we derive closed-form expressions for the optimal solutions of each subproblem. Finally, the original non-convex problem can be solved through a convergence guaranteed iterative algorithm. Simulation results are provided to demonstrate the effectiveness and superior performance of the proposed robust design compared with the benchmark schemes.