DE102018119980A1 - Clamping or gripping device - Google Patents

Abstract

The invention relates to a clamping or gripping device (1), in particular for clamping workpieces in honing machines, with a base body (2) which has a central opening (4) in its front end face for receiving a workpiece and defines a clamping axis (X), wherein in the base body (2) a plurality of radial bores (8) are formed which extend outwards from the central opening (4) perpendicular to the clamping axis, and clamping elements (9) which are arranged in the radial bores (8) and jointly by one The actuating mechanism can be adjusted radially to the clamping axis (X) in order to clamp or release a workpiece, and each carry fastening means for attaching a clamping jaw (27, 28) on their inner end regions projecting into the central opening (4), the clamping elements ( 9) can be rotated about the axis of the assigned radial bore (8) over a defined angular play.

Description

The present invention relates to a clamping or gripping device, in particular for clamping workpieces in honing machines, with a base body which has a central opening in its front end face for receiving a workpiece and defines a clamping axis, with a plurality of radial bores being formed in the base body extend outwards from the central opening perpendicular to the clamping axis, and clamping elements, which are arranged in the radial bores and are jointly adjustable therein by an actuating mechanism radially to the clamping axis in order to clamp or release a workpiece, and those on their inner, in the central opening projecting end areas each carry fasteners for attaching a jaw.

Clamping and gripping devices of this type are known and are widely used, in particular for clamping workpieces in machine tools. These are, in particular, clamping devices which fix a rotating workpiece to be machined with a clamping force sufficient for the machining. Such chucks usually have a dimensionally stable chuck body which has a central receiving opening for the workpieces, and a plurality of chuck jaws which can be adjusted together in radial guide grooves in the chuck body. In simple machine tools, manual chucks are often used, in which the clamping forces are applied by manual actuation. In more complex machine tools, in particular in CNC-controlled machine tools, power chucks are generally used, in which the clamping forces exerted by the clamping jaws on the workpiece are mostly generated by a motor or hydraulically.

Various actuation mechanisms can be used for this. From the EP 1 572 403 B1 For example, a chuck is known which works on the principle of straight wedge bars which are movably guided in wedge bar pockets provided transversely to the guide grooves for the clamping jaws. The wedge bars, which are driven by a cylinder arranged in the chuck body, are coupled to the clamping jaws via helical gears in such a way that the tangential movements of the wedge bars in the wedge bar pockets are converted into radial clamping movements of the clamping jaws.

Other alternative actuation mechanisms for jaws are well known.

In the known clamping or gripping devices, it is sometimes found to be disadvantageous that filigree workpieces with a complex external geometry cannot always be clamped cleanly, which can lead to irreversible deformations of the workpieces.

The object of the present invention is therefore to provide an alternative clamping or gripping device which enables flexible clamping or gripping of filigree workpieces with a complex outer contour without causing irreversible deformations of the workpieces.

This object is achieved in a tensioning or gripping device of the type mentioned in the introduction in that the tensioning elements can be rotated about the axis of the associated radial bore through a defined angular play.

The invention is therefore based on the consideration of the clamping elements to which the clamping jaws are fastened so as to be rotatable about their longitudinal axis in the radial bores, so that the clamping jaws to be attached to the clamping elements can conform to the contour of the workpiece to be clamped with a defined mobility.

The angular play is preferably at most 5 °, in particular 4 °, preferably 2 ° and / or at least 0.5 °, in particular 1 °.

In a further embodiment of the invention, each clamping element has in its section engaging in the respective radial bore a transverse bore in which a cylindrical pin is arranged which projects radially from the clamping element and engages in a groove running perpendicular to the clamping axis with play in the direction of the groove width , The play of the pin in the groove specifies the angular play by which the clamping element can be rotated about the axis of the associated radial bore. At the same time, the groove running perpendicular to the clamping axis and the pin that protrudes from the transverse bore of the clamping element form an anti-rotation device for the clamping element. As a result, it is no longer possible to rotate the tensioning element without restriction about its longitudinal axis, but only via the angular play predetermined by the play in the direction of the groove width.

The cylindrical pin preferably protrudes toward the front of the tensioning or gripping device into a through opening of the base body, each through opening being assigned a cover element which covers the outside of the through opening and in which the groove into which the cylindrical pin engages with play, is trained. The orientation of the cylindrical pin in the direction of the clamping axis makes it easy to assemble, since the pin can be inserted into the clamping element through the through opening and the through opening can then be closed to the outside by the cover element.

In a further embodiment of this embodiment, the cover elements are releasably attached to the base body, in particular screwed tight. By providing cover elements with different groove widths, the angular play of the clamping elements about the axis of the assigned radial bore can thus be set in a simple manner by replacing the cover elements with others with a different groove width. As a result, the clamping or gripping device can be adapted to workpieces of different geometries. In principle, the cover elements can be designed in such a way that all clamping elements have the same angular play. However, it is also conceivable to provide each clamping element individually with a different angular play if the respective clamping or gripping task requires this, for example due to the workpiece geometry. At the same time, the cover elements shield the through opening against contamination from the outside.

Exactly one clamping element is preferably arranged in each radial bore. In general, it is also conceivable not to provide a clamping element in every radial bore. For example, the base body could have six or more radial bores, but depending on the respective workpiece geometry, clamping elements are only present in three or four of the radial bores. The other radial bores are then designed as empty bores and can be closed by a stopper to prevent the ingress of contaminants and liquids. The base body preferably has exactly three radial bores, uniformly distributed along the circumference of the central opening, for receiving clamping elements. Such an arrangement corresponds to a three-jaw chuck, so that the workpiece can be fixed in a statically determined manner in the clamping or gripping device.

The radial bores can penetrate the base body completely outwards, so that the clamping elements can be easily inserted into and removed from the radial bores from the outside. Furthermore, easy access to the actuation mechanism can be created by removing the tensioning elements in order to carry out maintenance and cleaning work.

In a further embodiment of the invention, the actuating mechanism comprises an actuating piston which is arranged concentrically to the clamping axis in the base body and can be moved axially between a starting position and a clamping position, and each clamping element is assigned a two-armed lever element which is pivotably mounted in the base body on a pivot plane containing the clamping axis, engages with a lever arm in a recess formed in the respective clamping element and with the other lever arm in a corresponding recess formed in the actuating piston in order to convert an axial movement of the actuating piston into a radial movement of the respective clamping element. The two lever arms of the lever element can enclose an angle between 80 ° and 140 °, in particular between 100 ° and 120 °.

A workpiece is thus clamped in that an actuating piston is moved in the axial direction from a starting position into a clamping position, recesses being arranged in the actuating piston, into which a plurality of lever elements engage, which simultaneously engage in a recess of an assigned clamping element and thus the Can convert axial movement of the actuating piston into a radial movement of the respective clamping element. Such a configuration with a piston movable in the axial direction enables on the one hand the simultaneous actuation of all clamping elements and on the other hand a space-saving arrangement, since no actuating pistons are arranged in the radial direction and thus a compact structure is made possible.

The actuating piston preferably has an annular cross section and is arranged in an annular space of the base body surrounding the central opening. The design of the actuating piston with an annular cross section makes it possible to provide a central opening which completely penetrates the base body in the axial direction and thus also to enable elongated workpieces to be clamped.

The actuating piston can be actuated pneumatically or hydraulically in order to move it from its initial position into its clamping position. In principle, it is also conceivable that the actuating piston is pressurized from both sides and thus the movement from the starting position into the clamping position, as well as the movement from the clamping position to the starting position, is realized by direct pressurization with a liquid or with a gas , Alternatively, however, resetting from the clamping position to the starting position can also be done by elastic clamping means, for example spring elements, be realized so that the actuating piston is only pressurized from one side when it is to be moved from its starting position into its tensioned position.

A clamping or gripping device of the type mentioned at the outset can further comprise clamping jaws assigned to the clamping elements, which are fastened to the clamping elements in such a way that they can be rotated relative to them across a defined angular range transversely to the axis of the respective radial bore.

The axis of rotation about which the clamping jaws can be rotated relative to the clamping elements can extend parallel to the clamping axis. Alternatively, the axis of rotation about which the clamping jaws can be rotated relative to the clamping elements can also be inclined at an angle between 1 ° and 7 ° to the clamping axis. The axes of rotation can extend on a jacket of a cone about the clamping axis. Such an inclined position of the axis of rotation of the clamping jaws relative to the clamping elements can prevent the clamping jaws from unintentionally loosening due to the self-locking involved.

The angular range can extend over less than 4 °, in particular less than 1.5 ° and / or at least over 0.5 °.

Such rotatability of the clamping jaws relative to the clamping elements enables an even better adaptation of the clamping jaws to the geometry of the workpiece to be clamped. In conjunction with the rotatability of the clamping elements perpendicular to the clamping axis, the clamping jaws are given a second degree of freedom. This enables precise clamping, particularly with complex workpiece geometries and filigree workpieces.

To attach the clamping jaws, the clamping elements can have a plug-on profile and the clamping jaws have a corresponding counter profile, so that the clamping jaws can be brought together in particular axially with the plug-on profile. The plug-on profile can be formed in one piece with the tensioning element and / or can comprise a bolt which extends essentially in the direction of the tensioning axis and has a substantially circular cross section, which is connected in its radial direction to the tensioning element via a connecting web. As a result of the bolt extending essentially in the direction of the clamping axis, the counter profile of the clamping jaws can be rotated about this over a defined angular range. In principle, the clamping jaws can be rotated through the same angular range relative to the clamping elements. Alternatively, each clamping jaw can be rotated individually over a different angular range if the respective clamping or gripping task requires this, for example due to the workpiece geometry.

In a further embodiment, the bolt can be conical in the longitudinal direction in order to form a stop when a clamping jaw is attached. Alternatively, the bolt can be cylindrical and form a stop surface for the corresponding clamping jaw on its front end face.

In order to prevent liquids and / or dirt from penetrating into the actuating mechanism, the radial bore can be sealed, annular grooves being formed in particular in the wall of the radial bores and / or in the outer surface of the clamping elements, in each of which a sealing element, in particular a O-ring is arranged. The grooves are preferably designed such that the sealing element is squeezed in the radial direction, which on the one hand achieves a sealing effect against the ingress of dirt and liquids, and on the other hand a sliding movement of the clamping elements radially to the clamping axis remains possible.

The base body can comprise several axial base body elements in the axial direction, which are connected to one another by screws. Such a configuration makes it possible to mount a clamping or gripping device according to the present invention and, in particular, to introduce the components of the actuating mechanism into the base body.

The base body preferably has a triangular outer contour on its front side.

The object on which the invention is based is further achieved by an arrangement of clamping or gripping devices for a honing machine, a large number of clamping or gripping devices according to the invention being arranged on a carrier plate such that the clamping axes of the clamping or gripping devices are on a jacket of a circular cylinder are positioned around a center of the carrier plate. The clamping or gripping devices are positioned as far as possible on the outside of the carrier plate in order to be able to accommodate as large a number as possible on the carrier plate. The axis of a radial bore is preferably directed toward the center of the carrier plate.

In a preferred embodiment, this arrangement of clamping or gripping devices comprises at least eight clamping or gripping devices.

• 1 eine Spann- oder Greifeinrichtung gemäß der vorliegenden Erfindung in perspektivischer Darstellung ohne Spannbacken;
• 2 die Spann- oder Greifeinrichtung aus 1 in einer teilweise geschnittenen Draufsicht;
• 3 die Spann- oder Greifeinrichtung aus 1 in einer teilweise entlang der Schnittlinie A-A geschnittenen Seitenansicht;
• 4 die Spann- oder Greifeinrichtung aus 1 in einer Detailschnittansicht entlang der Schnittlinie K-K;
• 5 die Spann- oder Greifeinrichtung aus 1 mit montierten Spannbacken in perspektivischer Darstellung;
• 6 die Spann- oder Greifeinrichtung aus 5 in einer teilweise geschnittenen Seitenansicht;
• 7 die Spann- oder Greifeinrichtung aus 1 mit alternativen Spannbacken in perspektivischer Darstellung;
• 8 die Spann- oder Greifeinrichtung aus 7 in einer teilweise geschnittenen Seitenansicht; und
• 9 eine Anordnung von Spann- oder Greifeinrichtungen gemäß der vorliegenden Erfindung in perspektivischer Darstellung.

For the further embodiment of the invention, reference is made to the subclaims and to the following description of an exemplary embodiment with reference to the accompanying drawing. The drawing shows:

• 1 a clamping or gripping device according to the present invention in a perspective view without clamping jaws;
• 2 the clamping or gripping device 1 in a partially sectioned top view;
• 3 the clamping or gripping device 1 in a part along the cutting line AA sectional side view;
• 4 the clamping or gripping device 1 in a detailed sectional view along the cutting line KK;
• 5 the clamping or gripping device 1 with assembled jaws in perspective;
• 6 the clamping or gripping device 5 in a partially sectioned side view;
• 7 the clamping or gripping device 1 with alternative jaws in perspective;
• 8th the clamping or gripping device 7 in a partially sectioned side view; and
• 9 an arrangement of clamping or gripping devices according to the present invention in perspective.

In the 1 to 6 is a clamping or gripping device 1 mapped according to the present invention. This is as a tensioning device 1 designed for clamping workpieces in honing machines and has a base body 2 that in its front face 3 triangular basic shape with a central opening 4 for receiving a workpiece and has a clamping axis X Are defined. To simplify the assembly is the basic body 2 divided in the axial direction and comprises several axial base body elements 5 . 6 . 7 , which are interconnected by screws, not shown.

In the main body 2 are three radial bores 8th trained starting from the central opening 4 perpendicular to the clamping axis X extend outward and the main body 2 penetrate completely to the outside. In every radial bore 8th is exactly one clamping element 9 arranged.

The radial bores are to avoid the ingress of dirt and liquids 8th sealed. To this end, there are concrete in the wall of the radial bores 8th both near the central opening 4 , as well as near the outside of the body 2 each have a circular circumferential groove 10 trained, each in an O-ring 11 is arranged.

The clamping elements 9 are together by an actuating mechanism radially to the clamping axis X along the respective bore axis Y1 . Y2 . Y3 adjustable to clamp or release a workpiece.

The actuating mechanism comprises a concentric to the clamping axis X in the basic body 2 arranged actuating piston 12 which, by means of pneumatic actuation, axially between a front starting position ( 3 ) and a rear clamping position ( 6 ) is movable. The actuating piston 12 has an annular cross section and is the central opening in one 7 surrounding annulus 13 of the basic body 2 arranged.

As especially in 3 and 6 Every clamping element can be seen 9 a two-armed lever element 14 assigned which in the main body 2 in one the clamping axis X containing pivot plane is pivotally mounted. The two-armed lever element 14 has a first lever arm 15 , which in an associated clamping element 9 trained recess 16 intervenes. The one with the first lever arm 15 second lever arm enclosing an angle of approximately 110 ° 17 engages in a corresponding one in the actuating piston 12 trained recess 18 on. The arrangement is designed so that an axial movement of the actuating piston 12 in a radial movement of the clamping element 9 be implemented.

In the 1 to 4 is the actuating piston 12 positioned in its lower clamping position so that the clamping elements 9 are in their inner end position.

According to the invention, each clamping element 9 around the axis Y1 . Y2 . Y3 the associated radial bore 8th rotatable through a defined angular play of 1 °. From the 2 and 4 it can be seen that this is realized constructively by each clamping element 9 in its in the radial bore 8th engaging section of a cross hole 19 has, in which a cylindrical pin 20 is inserted. This protrudes to the front of the tensioning device 1 radially out of the clamping element 9 into a through opening 21 of the basic body 2 ,

Every passage opening 21 is a cover element 22 assigned which the respective through opening 21 covered on the outside. The cover elements 22 each have a perpendicular to release axle X , ie a radial groove 23 on which the pen 20 engages with play in the direction of the groove width. By engaging the pen 20 in the groove 23 on the one hand, an anti-rotation device is formed, by means of which the clamping element can be rotated completely 9 around the axis Y1 . Y2 . Y3 the respective radial bore 8th is prevented, on the other hand, by the game in the direction of the width of the groove 23 defines an angular play over which the clamping elements 9 are rotatable.

The cover elements 22 are on the main body 2 screwed to by replacing the cover elements 22 the width of the groove 23 and thus the angular play over which the clamping elements 9 around the axis Y1 . Y2 . Y3 the associated radial bore 8th are rotatable, to be able to vary. Basically, the cover elements 22 be designed so that they have an identical angular play of the clamping elements 9 enable. But it is also conceivable that the clamping device 1 is configured so that each clamping element 9 is individually provided with a different angle play if the respective clamping task requires it.

At their inner, into the central opening 4 protruding inner end areas carry the tensioning elements 9 each fastener for a jaw 27 in the form of a clip-on profile 24 on which jaws 27 are plugged with a corresponding counter profile, not shown in the drawing, as shown in FIGS 5 and 6 is shown.

In the present case, the clip-on profiles 24 in one piece with the respective clamping element 9 educated. They include one in the direction of the clamping axis X extending bolt 25 with a substantially circular cross-section that over a connecting web 26 in its radial direction with the respective clamping element 9 connected is.

The jaws 27 are so on the clamping elements 9 attached that they are relative to these around a parallel to the span axis X extending axis of rotation are rotatable over a defined angular range. Alternatively, it would also be conceivable that the axes of rotation around which the clamping jaws 27 relative to the clamping elements 8th are rotatable to the clamping axis X are inclined to inadvertent detachment of the jaws due to the associated self-locking 27 from the clamping elements 9 to avoid.

In the same way as for the angular play of the clamping elements 9 can all jaws 27 be rotatable over the same angular range or - if the clamping task requires this - in each case over different angular ranges. In the present case, the angular range extends uniformly over an angle of 1.5 °. The front face of the clip-on profiles 24 forms an axial stop surface for the corresponding jaw 27 ,

In the 7 and 8th is a tensioning device 1 according to the present invention, which differs from that in the 5 and 6 shown clamping device 1 differs in that the jaws 28 are designed so that they allow a two-point support on the workpiece to be clamped. In 8th can be seen that the jaws 28 around the axes Y1 . Y2 . Y3 the associated radial bore 8th are rotatable over a defined angular play.

For clamping a workpiece there are those with clamping jaws 27 . 28 provided clamping elements 9 in their outer end position, which means that the actuating piston 12 is in its upper starting position. After inserting the workpiece into the central opening 4 between the jaws 27 . 28 becomes the actuating piston 12 pneumatically pressurized so that it moves from its upper starting position to its clamping position. The associated pivoting movement of the lever elements 14 causes the axial movement of the actuating piston 12 in a radial movement of the clamping elements 9 so that the tensioning elements 9 with the jaws 27 . 28 Move inwards until they come into contact with the workpiece surface and apply a clamping force to it. Through the angular play of the clamping elements 9 around the axis Y1 . Y2 . Y3 the respective radial bore 8th and by the angular range over which the jaws 27 . 28 relative to the clamping elements 9 are rotatable, the jaws adapt 27 . 28 the workpiece geometry, so that a clean fit on the workpiece surface is guaranteed.

In 9 An arrangement of clamping devices according to the invention for a honing machine is shown, in which a total of ten clamping devices on a carrier plate 29 are arranged such that the clamping axes X of the tensioning devices 1 on a jacket of a circular cylinder around a central axis Z the carrier plate 29 are positioned. The tensioning devices 1 show with the axis Y1 a radial bore 9 inside and as far as possible are outside on the carrier plate 29 positioned to the greatest possible number of clamping devices 1 on the carrier plate 29 accommodate. It can also be seen that each clamping device 1 two feed hoses 30 to control the respective actuating piston 12 assigned.

LIST OF REFERENCE NUMBERS

1

tensioning device

2

body

3

front face

4

central opening

5, 6, 7

axial basic body elements

8th

radial bore

9

clamping element

10

circular groove

11

O-ring

12

actuating piston

13

annulus

14

lever member

15

first lever arm

16

recess

17

second lever arm

18

recess

19

cross hole

20

cylindrical pin

21

Through opening

22

cover

23

groove

24

attachment profile

25

bolt

26

connecting web

27

jaw

28

jaw

29

support plate

30

supply lines

X

release axle

Y1, Y2, Y3

bore axis

Z

central axis

QUOTES INCLUDE IN THE DESCRIPTION

This list of documents listed by the applicant has been generated automatically and is only included for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Patent literature cited

• EP 1572403 B1 [0003]

Claims (26)

Clamping or gripping device (1), in particular for clamping workpieces in honing machines, with a base body (2) which has a central opening (4) in its front end face (3) for receiving a workpiece and defines a clamping axis (X), wherein in the base body (2) a plurality of radial bores (8) are formed which extend from the central opening (4) perpendicular to the clamping axis (X), and clamping elements (9) which are arranged in the radial bores (8) and therein can be adjusted together radially to the clamping axis (X) by an actuating mechanism in order to clamp or release a workpiece, and which each carry fastening means for attaching a clamping jaw (27, 28) on their inner end regions projecting into the central opening (4), characterized in that the clamping elements (9) can be rotated about the axis of the associated radial bore (8) over a defined angular play. Clamping or gripping device (1) Claim 1 , characterized in that the angular play is at most 5 °, in particular 4 °, preferably 2 ° and / or at least 0.5 °, in particular 1 °. Clamping or gripping device (1) Claim 1 or 2 , characterized in that each clamping element (9) has in its section engaging in the respective radial bore (8) a transverse bore (19) in which a cylindrical pin (20) is arranged, which projects radially out of the clamping element (9) and in a groove (23) running perpendicular to the clamping axis (X) engages with play in the direction of the groove width. Clamping or gripping device (1) Claim 3 , characterized in that the cylindrical pin (20) protrudes toward the front of the clamping or gripping device (1) into a through opening (21) of the base body (2), with each through opening (21) being assigned a cover element (22) which covers the through opening (21) on the outside and in which the groove (23) into which the cylindrical pin (20) engages with play is formed. Clamping or gripping device (1) Claim 4 , characterized in that the cover elements (22) are releasably attached to the base body (2), in particular are screwed tight. Clamping or gripping device (1) according to one of the preceding claims, characterized in that a clamping element (9) is arranged in each radial bore (8). Clamping or gripping device (1) according to one of the preceding claims, characterized in that the base body (2) has exactly three radial bores (8) distributed uniformly along the circumference of the central opening (4) for receiving clamping elements (9). Clamping or gripping device (1) according to one of the preceding claims, characterized in that the radial bores (8) penetrate the base body (2) completely to the outside. Clamping or gripping device (1) according to one of the preceding claims, characterized in that the actuating mechanism comprises an actuating piston (12) which is arranged concentrically to the clamping axis (X) in the base body (2) and is axially movable between a starting position and a clamping position, and each Assigned clamping element (9) comprises a two-armed lever element (14), which is pivotably mounted in the base body (2) on a pivot plane containing the clamping axis (X), with a lever arm (15) in a recess formed in the respective clamping element (9) ( 18) and with the other lever arm (17) engages in a corresponding recess (16) formed in the actuating piston (12) in order to convert an axial movement of the actuating piston (12) into a radial movement of the respective clamping element (9). Clamping or gripping device (1) Claim 9 , characterized in that the two lever arms (15, 17) of the lever element (14) enclose an angle between 80 ° and 140 °, in particular between 100 ° and 120 °. Clamping or gripping device (1) Claim 9 or 10 , characterized in that the actuating piston (12) has an annular cross section and is arranged in an annular space (13) of the base body (2) surrounding the central opening (4). Clamping or gripping device (1) according to one of the Claims 9 to 11 , characterized in that the actuating piston (12) can be actuated pneumatically or hydraulically in order to move it from the initial position into the clamping position. Clamping or gripping device (1) according to one of the Claims 9 to 12 , characterized in that the actuating piston (12) can be reset to its starting position by elastic tensioning means, in particular spring elements. Clamping or gripping device (1), in particular according to one of the preceding claims, with a base body (2) which has a central opening (4) in its front end face (3) for receiving a workpiece and defines a clamping axis (X), wherein a plurality of radial bores (8) are formed in the base body (2) starting from the central opening (4) perpendicular to the clamping axis (X) and outwards, and clamping elements (9), which are arranged in the radial bores (8) and can be adjusted together by an actuating mechanism radially to the clamping axis (X) Clamping or releasing the workpiece and each carrying a fastening device for a clamping jaw (27, 28) at their inner end regions projecting into the central opening (4), characterized in that these furthermore have clamping jaws (27, 28) assigned to the clamping elements (9) ), which are fastened to the clamping elements (9) in such a way that they rotate relative to them transversely to the axis (Y1, Y2, Y3) of the radial bore over a defined angular range ar are. Clamping or gripping device (1) Claim 14 , characterized in that the axes of rotation about which the clamping jaws (27, 28) are rotatable relative to the clamping elements (9) extend parallel to the clamping axis (X). Clamping or gripping device (1) Claim 14 , characterized in that the axes of rotation about which the clamping jaws (27, 28) are rotatable relative to the clamping elements (9) are inclined at an angle between 1 ° and 7 ° to the clamping axis (X). Clamping or gripping device (1) according to one of the Claims 14 to 16 , characterized in that the angular range extends over less than 4 °, in particular less than 1.5 ° and / or at least over 0.5 °. Clamping or gripping device (1) according to one of the Claims 14 to 17 , characterized in that the clamping elements (9) for fastening the clamping jaws (27, 28) have a plug-on profile (24) and the clamping jaws (27, 28) have a corresponding counter profile, so that the clamping jaws (27, 28) in particular axially the plug-on profile (24) are brought together. Clamping or gripping device (1) Claim 18 , characterized in that the plug-on profile (24) is formed in one piece with the clamping element (9). Clamping or gripping device (1) Claim 18 or 19 , characterized in that the plug-on profile (24) comprises a bolt (25) which extends essentially in the direction of the clamping axis (X) and has an essentially circular cross section, which in its radial direction is connected to the clamping element (9 ) connected is. Clamping or gripping device (1) Claim 20 , characterized in that the bolt (25) is conical in the longitudinal direction in order to form a stop when a clamping jaw (27, 28) is fitted. Clamping or gripping device (1) Claim 20 , characterized in that the bolt (25) is cylindrical and forms a stop surface for the corresponding clamping jaw (27, 28) on its front end face (3). Clamping or gripping device (1) according to one of the preceding claims, characterized in that the radial bore (8) is sealed in order to prevent the ingress of dirt and liquids into the actuating mechanism, in particular in the wall of the radial bores (8) and / or in the outer surface of the clamping elements (9) annular grooves (10) are formed, in each of which a sealing element, in particular an O-ring (11), is arranged. Clamping or gripping device (1) according to one of the preceding claims, characterized in that the base body (2) comprises several axial base body elements (5, 6, 7) in the axial direction, which are connected to one another by screws. Arrangement of clamping or gripping devices (1) for a honing machine, wherein a plurality of clamping or gripping devices (1) according to one of the Claims 1 to 22 are arranged on a carrier plate (29) such that the clamping axes (X) of the clamping or gripping devices (1) are positioned on a jacket of a circular cylinder around a center point of the carrier plate (29). Arrangement of clamping or gripping devices (1) according to Claim 25 , characterized in that it comprises at least eight clamping or gripping devices (1).

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