Clamping device

The invention provides a clamping device (10) comprising: a cylinder (12) having a piston rod (18); a rotary output mechanism (20) including a screw shaft (22) and a nut (24) and configured to convert a linear motion of the piston rod (18) into a rotary motion; a plurality of linear motion units (62), each linear motion unit being coupled with a gripper jaw (60); and a linear output mechanism (40) configured to convert the rotational motion output from the rotary output mechanism (20) into linear motion and transmit the linear motion to the plurality of linear motion units (62), and including a pinion (42) and a rack (48). The nut (24) is located on the inner diameter side of the pinion gear (42), and the linear stroke of the linear motion unit (62) is larger than the linear stroke of the piston rod (18). 本发明提供了一种夹持装置(10)，包括：气缸(12)，其具有活塞杆(18)；旋转输出机构(20)，其包括螺杆轴(22)和螺母(24)，并且构造为将活塞杆(18)的直线运动转换成旋转运动；多个直线运动单元(62)，各个直线运动单元联接有夹持爪(60)；以及直线输出机构(40)，其构造为将从旋转输出机构(20)输出的旋转运动转换成直线运动并将直线运动传递到多个直线运动单元(62)，并且包括小齿轮(42)和齿条(48