The invention relates to an internal-supporting-clamping-type robot clamp device and a golf ball arm head grinding equipment thereof. The internal-supporting-clamping-type robot clamp device comprisesa driving assembly, a pushing assembly and an elastic clamping head. The pushing assembly comprises a force reinforcement lever and a pull rod which are connected, the driving assembly is connected with the force reinforcement lever, and the force reinforcement lever is rotatably arranged on the clamp device. The pull rod is partly located in the elastic clamping head, the elastic clamping head is provided with a rising sleeve, a clamping object sleeves the outer surface of the rising sleeve, and the maximum outer diameter of one end of the pull rod is larger than the inner diameter of the rising sleeve. The driving assembly drives the force reinforcement lever to rotate on the clamp device, and the force reinforcement lever drives the pull rod to reciprocate in the elastic clamping head.In the reciprocating process, one end of the pull rod is gradually in contact with the rising sleeve and spreads the rising sleeve, and the rising sleeve of the elastic clamping head is spread in theclamping object and tightly supports the clamping object. Or, one end of the pull rod is gradually away from the rising sleeve, and the rising sleeve loosens the clamping object. An internal-supporting-clamping-type robot clamp is used for clamping a golf ball arm head, and the demand for grinding the overall ball arm head can be met through one-time clamping.