Clamping device and robot arm with such a clamping device

Abstract

Clamping device for clamping a rotationally symmetrical first component (16.1) to a rotationally symmetrical second component (16.2), comprising: - at least one axial bore (18) formed on a flange section (17) of the first component (16.1) which extends around the axis of rotation (R) of the first component (16.1), the bore axis (A) of which lies offset parallel to the axis of rotation (R) on a circumferential circle, - a screw (19) inserted into the axial bore (18) and having a screw head (19a) and a shaft section (19b) adjoining the screw head (19a), - a conical ring (20) placed on the shaft section (19b) of the screw (19), which has a conical ring end wall (20a) facing the underside of the screw head (19a) and a conically shaped outer shell wall (20b), and - a clamping ring (21) which encircles the shank section (19b) of the screw (19) and is inserted between the conically shaped outer casing wall (20b) of the conical ring (20) and a flange ring end wall (17a) of the flange section (17) of the first component (16.1) facing the conical ring (20), said clamping ring being designed and configured, in its untensioned state, to lie completely beyond a circular-cylindrical envelope surface (H) defined by a circumferential wall of the flange section (17) of the first component (16.1) and away from the second component (16.2), and which can be adjusted in a direction by means of the screw (19) by axially adjusting the conical ring (20) in the direction of the flange ring end wall (17a) of the flange section (17) of the first component (16.1) in its circumferentially expanded, tensioned state, to project radially beyond the circumferential wall of the flange section (17) beyond the circular cylindrical envelope surface (H), so that the clamping ring (21) in its tensioned state clamps itself into the shell wall (M) of the second component (16.2).

Description

[0001] The invention relates to a clamping device for clamping a rotationally symmetrical first component to a rotationally symmetrical second component. The invention also relates to a robot arm with such a clamping device.

[0002] DE 10 2021 207 266 A1 describes a drive device, in particular an electric machine or transmission device for an electric axle with an electric machine, comprising a rotor rotatable about an axis of rotation, which has an outer rotor and an inner rotor coupled to the outer rotor, at least one bearing plate and a stator arranged in the radial direction with respect to the axis of rotation between the outer rotor and the inner rotor, which stator comprises a stator body, in particular at least one stator core, and an electrical stator winding, wherein the stator body has stator teeth and stator slots formed between the stator teeth, in which electrical conductors of the stator winding run, wherein the stator winding forms a winding head on each of the two end faces of the stator body,The stator teeth and the stator slots of the stator body are formed on an outer stator side facing the outer rotor and on an inner stator side of the stator body facing the inner rotor. The stator body has an annular stator yoke from which the stator teeth protrude in the radial direction. The stator teeth each have a tooth tip, and the stator body is fastened to the bearing plate via at least one fastening or holding element. The stator winding, in particular the part of the stator winding located in the stator slots, and one of the two winding heads serve as a fastening or holding element. One of the two winding heads of the stator winding is fastened, in particular clamped, clamped, glued, cast, or shrunk into at least one winding head receptacle, in particular a recess, a groove, a bushing, or a clamping sleeve, of the bearing plate.

[0003] In one embodiment, a clamping device is designed as a conical ring. It acts via a conical surface and screws on the radially outer of two support legs, pressing it toward the winding head, which in turn presses the winding head against the opposite wall of the winding head support. The conical ring rotates coaxially around the rotor's rotational axis. Clamping the conical ring requires several screws arranged around the circumference of the conical ring. These screws must be tightened as evenly as possible to prevent the conical ring from tilting.

[0004] The object of the invention is to provide a clamping device or a robot arm with such a clamping device for clamping a rotationally symmetrical first component to a rotationally symmetrical second component, which can be used in a simple and process-reliable manner during assembly of a first component and a second component, and which is constructed from components that are easy to manufacture.

[0005] The object is achieved by a clamping device for clamping a rotationally symmetrical first component to a rotationally symmetrical second component, comprising: - at least one axial bore formed on a flange section of the first component which encircles the rotational axis of the first component, the bore axis of which lies parallel to the rotational axis on a circumferential circle, - a screw inserted into the axial bore, which has a screw head and a shank section adjoining the screw head, - a conical ring placed on the shank section of the screw, which has a conical ring end wall facing the underside of the screw head and a conically shaped outer shell wall, and - a clamping ring which runs around the shank section of the screw and is inserted between the conically shaped outer casing wall of the conical ring and a flange ring end wall of the flange section of the first component facing the conical ring, which clamping ring is designed and configured to lie, in its untensioned state, completely beyond a circular cylindrical envelope surface defined by a circumferential wall of the flange section of the first component and away from the second component, and to protrude radially beyond the circumferential wall of the flange section beyond the circular cylindrical envelope surface in a tensioned state in which its circumference is widened by means of the screw by axial adjustment of the conical ring in the direction of the flange ring end wall of the flange section of the first component, so that the clamping ring, in its tensioned state, clamps itself into the casing wall of the second component.

[0006] The rotationally symmetrical first component and the rotationally symmetrical second component can be a pair of a circular-cylindrical inner component and a hollow-cylindrical outer component. For example, the first component, which is designed as a circular-cylindrical inner component, can be a stator of an electric motor, and the second component, which is designed as a circular-cylindrical outer component, can be a housing in which the stator of the electric motor is to be secured by means of the clamping device.

[0007] In another exemplary embodiment, the rotationally symmetrical first component, which is designed as a circular cylindrical inner component, can be a bearing unit with a bevel gear of a transmission, and the second component, which is designed as a circular cylindrical outer component, can be a transmission housing in which the bearing unit is to be inserted and positioned together with the bevel gear by means of the clamping device.

[0008] In general, the flange section can be provided either on the first component or on the second component. The flange section essentially serves to support the at least one axial bore. In particular, several axial bores can be formed on the flange section, located on a common circumferential circle, preferably arranged at equal distances from one another. Each axial bore is assigned its own screw with an associated conical ring and a clamping ring.

[0009] A clamping force is generated by tightening the screw guided in the respective axial bore. The screw head moves the conical ring in the axial direction against the flange ring end wall, but without coming into contact with the flange ring end wall. The clamping ring sits circumferentially on a shoulder of the flange ring end wall so that the clamping ring cannot move axially when the screw is tightened. Due to the conical outer wall of the conical ring, the axial force introduced into the conical ring when the screw is tightened is at least partially converted into a radial force, which causes the clamping ring to expand radially. The conical ring progressively penetrates the center of the clamping ring in the axial direction. In this way, the radial force introduced into the clamping ring can at least be maintained and even further increased as the screw is tightened.

[0010] The design and size of the clamping ring, as well as the shape of the flange section, are selected such that the clamping ring, when installed on the screw or on the axial bore, does not protrude radially beyond the flange section with its radially outermost circumferential edge in its unclamped state. If the flange section is formed on an internal component, this means that the clamping ring, in its unclamped state, must not protrude radially outwards beyond the outer circumference of the flange section with its radially outermost circumferential edge. If the flange section is formed on an external component, this means that the clamping ring, in its unclamped state, must not protrude radially inwards beyond the outer circumference of the flange section with its radially outermost circumferential edge.

[0011] The design and size of the clamping ring, as well as the shape of the flange section, are also selected such that the clamping ring, in its clamped state, i.e. when the screw is tightened accordingly and the clamping ring is expanded in its circumference by the conical ring, protrudes at least slightly radially beyond the flange section. If the flange section is formed on an inner component, this means that the clamping ring, in its clamped state, protrudes at least slightly radially outwards with its radially outermost circumferential edge beyond the outer circumference of the flange section. The radial outward projection of the clamping ring clamps the clamping ring to the outer component.If the flange section is formed on an external component, this means that the clamping ring, in its clamped state, protrudes at least slightly radially inward beyond the inner circumference of the flange section with its radially outermost peripheral edge. The radial inward projection of the clamping ring causes the clamping ring to clamp to the inner component.

[0012] A special feature of the clamping device according to the invention is the property that the clamping ring does not completely run around the outer circumference of the inner component, but is only provided at a local point on the flange section, where the clamping ring runs around the associated screw. Depending on the required clamping force, a selected number of clamping rings, and thus also a corresponding number of axial bores, screws, and conical rings, can be provided on the flange section. Accordingly, for example, 3, 4, 6, 8 or more clamping units, each comprising a clamping ring, an axial bore, a screw, and a conical ring, can be provided on the flange section, preferably evenly distributed over a circumference.

[0013] In a first basic embodiment, the first component can thus be an inner component and the second component an outer component, wherein the flange section is provided on the inner component and the clamping ring is designed and configured to lie completely within a circular cylindrical envelope surface determined by an outer circumferential wall of the flange section of the inner component in its untensioned state, and to protrude radially outwards beyond the outer circumferential wall of the flange section in a tensioned state in which its circumference is widened by means of the screw by axially adjusting the conical ring in the direction of the flange ring end wall of the flange section of the inner component, so that the clamping ring in its tensioned state clamps itself into the inner shell wall of the outer component.

[0014] In a second basic embodiment variant, the first component can thus be an outer component and the second component an inner component, wherein the flange section is provided on the outer component and the clamping ring is designed and configured to lie completely outside a circular cylindrical envelope surface determined by an inner circumferential wall of the flange section of the outer component in its untensioned state, and to protrude radially inwards beyond the inner circumferential wall of the flange section in a tensioned state in which its circumference is widened by means of the screw by axially adjusting the conical ring in the direction of the flange ring end wall of the flange section of the outer component, so that the clamping ring in its tensioned state clamps itself into the outer shell wall of the inner component.

[0015] The clamping ring can generally be designed as an open clamping ring with two spaced-apart, facing clamping ring ends, which are arranged closer together in the unclamped state of the clamping ring than in the clamped state. The clamping ring can, for example, be designed as a round wire snap ring, similar to DIN 7993. However, the clamping ring can also have a cross-sectional shape other than circular, if necessary. The clamping ring can be made of spring steel.

[0016] The axial bore primarily serves to guide the inserted screw within the flange section in its axial extension parallel to the axis of rotation of the first component and / or the second component. For example, the screw can be inserted into the axial bore in such a way that the screw head rests on one flange end wall of the flange section and the screw is axially tightened by a nut resting on the opposite flange end wall of the flange section.

[0017] In a preferred embodiment, however, the at least one axial bore can be designed as a threaded bore and the shaft section of the screw can carry an external thread that interacts with the threaded bore.

[0018] The screw can thus be easily screwed into the threaded hole with its threaded portion. A separate nut is therefore unnecessary. The screw is thus screwed directly into the flange portion.

[0019] The flange ring end wall may be provided with a countersink coaxially surrounding the axial bore, which countersink is designed to receive a portion of the conical ring facing the flange ring end wall when the clamping ring is in its clamped state.

[0020] The flange ring end wall facing the screw head forms a receiving space for a section of the conical ring facing the flange ring end wall. This ensures that when the screw is tightened, the screw head cannot press the conical ring against the flange ring end wall of the flange section, which would prevent further axial movement of the conical ring. This ensures that the conical ring can always transmit the required clamping force to the clamping ring.

[0021] The conical outer shell wall of the conical ring can be formed by a chamfer of the conical ring arranged in the transition area between the outer shell wall of the conical ring and a second conical ring end wall facing the flange ring end wall.

[0022] The conicity of the conical outer shell wall can be set to a specific cone angle depending on the desired clamping force and the desired force ratios on the screw, the conical ring, and the clamping ring. The conical outer shell wall can be produced using simple means, for example, by turning a ring with a square or rectangular cross-section. The size of the conical outer shell wall is determined primarily by the size or wire diameter of the clamping ring.

[0023] The flange section of the first component can be formed by a separate flange ring which, by tightening at least one screw and by tensioning the clamping ring, is supported both inwards against the first component and outwards against the second component, thereby fixing the first component and the second component relative to one another.

[0024] The flange section can have a plurality of axial bores distributed over a circumference, each of which has a screw, a conical ring and a clamping ring provided thereon.

[0025] Depending on the required clamping force, a selected number of clamping rings, and thus also a corresponding number of axial bores, screws, and conical rings, can be provided on the flange section. Accordingly, for example, 3, 4, 6, 8, or more clamping units, each comprising a clamping ring, an axial bore, a screw, and a conical ring, can be provided on the flange section, preferably evenly distributed around a circumference.

[0026] The task is also solved by a robot arm with such a clamping device.

[0027] In a first embodiment, the robot arm can be designed with a plurality of links and joints that adjust the links relative to one another, of which at least one joint is designed as a rotary joint that automatically connects a first link of the robot arm to an immediately adjacent second link of the robot arm so that they can rotate relative to one another, wherein the rotary joint is assigned an electric motor for automatically driving the rotary joint, the stator body of which is inserted into the first link of the robot arm or into the second link of the robot arm and is fixed therein by means of a clamping device according to one of the described embodiments.

[0028] The electric motor may not have its own motor housing, but may be integrated into the first or second link of the robot arm as an installation kit. Thus, the corresponding link of the robot arm simultaneously forms the housing for the electric motor or the installation kit.

[0029] In a second embodiment, the robot arm can be designed with a plurality of links and joints that adjust the links relative to one another, of which at least one joint is designed as a rotary joint that automatically connects a first link of the robot arm to an immediately adjacent second link of the robot arm so that they can rotate relative to one another, wherein the rotary joint is assigned a gear that has a bevel gear stage with a drive bevel gear and an output bevel gear that meshes with the drive bevel gear, wherein the drive bevel gear and / or the output bevel gear is fixed on a gear shaft of the gear by means of a clamping device according to one of the described embodiments.

[0030] In a third embodiment, the robot arm can be designed with a plurality of links and joints that adjust the links relative to one another, of which at least one joint is designed as a rotary joint that automatically connects a first link of the robot arm to an immediately adjacent second link of the robot arm so that they can rotate relative to one another, wherein the rotary joint is assigned a gear that has a bevel gear stage with a drive bevel gear and an output bevel gear that meshes with the drive bevel gear, wherein the drive bevel gear and / or the output bevel gear is mounted together with a gear shaft of the gear in a bearing unit that is fixed to a housing component of the gear or a housing component of the rotary joint by means of a clamping device according to one of the described embodiments.

[0031] The bearing unit can be guided in the housing component of the gearbox or the housing component of the swivel joint for axial adjustment as long as the clamping device is in its unclamped state. For example, the backlash between the input bevel gear and the output bevel gear can be adjusted by axially displacing the bearing unit. Once the backlash is set to the desired value, the clamping device can be brought into its clamped state by tightening at least one screw of the clamping device, so that the bearing unit is fixed in the housing component of the gearbox or the housing component of the swivel joint and can therefore no longer be axially adjusted.

[0032] Specific embodiments of the invention are explained in more detail in the following description with reference to the accompanying figures. Regardless of the specific context in which they are mentioned, specific features of these exemplary embodiments may represent general features of the invention, even when considered individually or in further combinations.

[0033] They show: Fig. 1 a perspective view of an exemplary robot arm in the manner of an industrial robot, Fig. 2 a schematic perspective view of an exemplary stator body which is inserted into a member of a robot arm and fixed therein by means of clamping devices according to the invention, Fig. 3 an enlarged partial sectional view of Fig. 2 in the area of ​​an exemplary clamping device according to the invention, Fig. 4 a sectional view of a modified embodiment of a clamping device according to the invention, Fig. 5 a sectional view of a further embodiment of a clamping device according to the invention on a separate, axially adjustable flange ring, and Fig. 6 an enlarged perspective partial view of the clamping device according to Fig. 5.

[0034] The Fig. 1 shows an exemplary robot 1 in the form of an industrial robot with a robot controller 2 and a robot arm 3. The robot arm 3 has a base frame 5 as the first link G1, on which a carousel 7 as the second link G2 is mounted so as to be rotatable about a first vertical axis A1 and is rotationally driven by a first drive motor M1. The axes A1-A6 of the robot arm 3 can also be referred to as joints L1-L6 of the robot arm 3. A rocker arm 8 as the third link G3 is mounted on the carousel 7 so as to be pivotable up and down about a second horizontal axis A2 and is rotationally driven by a second drive motor M2. The rocker arm 8 carries an arm boom 9, which is mounted so as to be pivotable up and down about a third horizontal axis A3 and is rotationally driven by a third drive motor M3.On the arm extension 9, whose base arm 10 forms a fourth link G4, a fourth axis A4 is provided, which runs in the longitudinal extension of the arm extension 9 and, via a fourth drive motor (not shown), drives a front arm 11 in rotation, which forms a fifth link G5.

[0035] A first leg 12a and a second leg 12b extend forward in a forked manner from the front arm 11. The two legs 12a, 12b support a bearing for a hand 13, which forms a sixth link G6. This bearing defines a fifth axis A5 of the robot arm 3, about which the hand 13 can be pivoted by means of a fifth drive motor (not shown). In addition, the hand 13 has a sixth axis A6 in order to rotatably drive a mounting flange 14, which forms a seventh link G7, by means of a sixth drive motor (not shown). Each axis A1 to A6 is assigned a joint L1 to L6. In the case of the illustrated embodiment, these joints L1 to L6 connect the links G1 to G7 in the manner of serial kinematics of a kick-arm robot.

[0036] One or more of the members G1 to G7 of the robot arm 3 can have a clamping device 15 according to the invention. A corresponding member G1 to G7 of the robot arm 3 forms, in particular, the first component 16.1 or the second component 16.2 for the clamping device 15.

[0037] In the Fig. 2 shows a first component 16.1 and a second component 16.2 with, for example, four clamping devices 15.

[0038] Each clamping device 15 serves to clamp the rotationally symmetrical second component 16.2 to the rotationally symmetrical first component 16.1.

[0039] Each clamping device 15 has, as shown in Fig. 3, at least one axial bore 18 formed on a flange section 17 of the first component 16.1 which runs around the axis of rotation R of the first component 16.1, the bore axis A of which lies parallel to the axis of rotation R and offset on a circumferential circle.

[0040] Each clamping device 15 comprises a screw 19 inserted into the axial bore 18, which has a screw head 19a and a shaft section 19b adjoining the screw head 19a.

[0041] Each clamping device 15 also has a conical ring 20 placed on the shaft section 19b of the screw 19, which has a conical ring end wall 20a facing the underside of the screw head 19a and a conically shaped outer shell wall 20b.

[0042] Each clamping device 15 also comprises a clamping ring 21 which runs around the shaft section 19b of the screw 19 and is inserted between the conically shaped outer shell wall 20b of the conical ring 20 and a flange ring end wall 17a of the flange section 17 of the first component 16.1 facing the conical ring 20. The clamping ring 21 is designed and configured, in its untensioned state, to lie completely beyond a circular cylindrical envelope surface H defined by a circumferential wall of the flange section 17 of the first component 16.1, away from the second component 16.2, and in a direction of the flange ring end wall 17a of the flange section 17 of the first component 16.2 by means of the screw 19 by axially adjusting the conical ring 20.1 in its circumference expanded, tensioned state over the peripheral wall of the flange section 17 radially beyond the circular cylindrical envelope surface H (in the direction of arrow P1), so that the clamping ring 21 in its tensioned state clamps itself into the shell wall M of the second component 16.2.

[0043] In this second basic design variant according to Fig. 2, Fig. 3, Fig, 5 and Fig. 6, the first component 16.1 is an outer component 16a and the second component 16.2 is an inner component 16b, wherein the flange section 17 is provided on the outer component 16a and the clamping ring 21 is designed and configured to lie, in its untensioned state, completely outside the circular-cylindrical envelope surface H defined by an inner circumferential wall 22 of the flange section 17 of the outer component 16a, and to protrude radially inwards (in the direction of arrow P1) beyond the inner circumferential wall 22 of the flange section 17 in its tensioned state, in which its circumference is widened by means of the screw 19 by axially adjusting the conical ring 20 in the direction of the flange ring end wall 17a of the flange section 17 of the outer component 16a, so that the clamping ring 21, in its tensioned state, clamps itself into the outer shell wall 23 of the inner component 16b.

[0044] In the Fig. 4, the first component 16.1 is an inner component 16b and the second component 16.2 is an outer component 16a, wherein the flange section 17 is provided on the inner component 16b and the clamping ring 21 is designed and configured to lie, in its untensioned state, completely within a circular-cylindrical envelope surface H defined by an outer circumferential wall 22a of the flange section 17 of the inner component 16b, and to protrude radially outwards (in the direction of arrow P2) beyond the outer circumferential wall 22a of the flange section 17 in a tensioned state in which its circumference is widened by means of the screw 19 by axially adjusting the conical ring 20 in the direction of the flange ring end wall 17a of the flange section 17 of the inner component 16b, so that the clamping ring 21 in its tensioned state can be inserted into the inner shell wall 23a of the outer component 16a.

[0045] In both illustrated embodiments, the clamping ring 21 is designed as an open clamping ring 21 having two clamping ring ends arranged at a distance from one another and facing one another. These ends are arranged closer together in the unclamped state of the clamping ring 21 than in the clamped state of the clamping ring 21. The clamping ring 21 can, for example, be designed in the manner of a round wire snap ring, analogous to DIN 7993. However, the clamping ring 21 can also have a cross-sectional shape that deviates from the circular shape, if desired. The clamping ring 21 can be made of spring steel.

[0046] In the case of the present embodiments, the at least one axial bore 18 is designed as a threaded bore and the shaft section 19b of the screw 19 has an external thread that interacts with the threaded bore.

[0047] In the version according to Fig. 4, the flange ring end wall 17a is provided with a countersink 24 coaxially surrounding the axial bore 18, which is designed to receive a portion of the conical ring 20 facing the flange ring end wall 17a when the clamping ring 21 is in its clamped state.

[0048] In the case of the embodiments shown, the conical outer shell wall 20b of the conical ring 20 is formed by a chamfer 25 of the conical ring 20 arranged in the transition region between the outer shell wall 20b of the conical ring 20 and a second conical ring end wall 20c facing the flange ring end wall 17a.

[0049] In the embodiment according to Fig. 5 and Fig. 6, the flange section 17 of the first component 16.1 is formed by a separate flange ring 17.1. The separate flange ring 17.1 rotates coaxially around the rotation axis R of the first component 16.1.

[0050] In the case of the present embodiment, the separate flange ring 17.1 carries the Fig. 5 and Fig. 6 the axial bores 18 designed as threaded bores. By tightening the screws 19, the clamping ring 21 is clamped both inwards against the first component 16.1 and outwards against the second component 16.2 and thus fixes both components 16.1 and 16.2 relative to each other.

[0051] In the case of the present embodiment of the Fig. 5 and Fig. 6, the first component 16.1 is designed as a hollow axle 28. A hollow shaft 29 arranged coaxially to the hollow axle 28 is mounted on the second component 16.2 by means of at least one rolling bearing 30. An outer ring 31 of the rolling bearing 30 is axially fixed by means of the axially adjustable separate flange ring 17.1 via a ring seat surface 32 of the separate flange ring 17.1 due to the clamping force exerted by the clamping ring 21. QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] DE 10 2021 207 266 A1

[0002]

Claims

[1] Clamping device for clamping a rotationally symmetrical first component (16.1) to a rotationally symmetrical second component (16.2), comprising: - at least one axial bore (18) formed on a flange section (17) of the first component (16.1) which extends around the axis of rotation (R) of the first component (16.1), the bore axis (A) of which lies offset parallel to the axis of rotation (R) on a circumferential circle, - a screw (19) inserted into the axial bore (18) and having a screw head (19a) and a shaft section (19b) adjoining the screw head (19a), - a conical ring (20) placed on the shaft section (19b) of the screw (19), which has a conical ring end wall (20a) facing the underside of the screw head (19a) and a conically shaped outer shell wall (20b), and - a clamping ring (21) which encircles the shank section (19b) of the screw (19) and is inserted between the conically shaped outer casing wall (20b) of the conical ring (20) and a flange ring end wall (17a) of the flange section (17) of the first component (16.1) facing the conical ring (20), said clamping ring being designed and configured, in its untensioned state, to lie completely beyond a circular-cylindrical envelope surface (H) defined by a circumferential wall of the flange section (17) of the first component (16.1) and away from the second component (16.2), and which can be adjusted in a direction by means of the screw (19) by axially adjusting the conical ring (20) in the direction of the flange ring end wall (17a) of the flange section (17) of the first component (16.1) in its circumferentially expanded, tensioned state, to project radially beyond the circumferential wall of the flange section (17) beyond the circular cylindrical envelope surface (H), so that the clamping ring (21) in its tensioned state clamps itself into the shell wall (M) of the second component (16.2). [2] Clamping device according to claim 1, characterized bythat the first component (16.1) is an inner component (16b) and the second component (16.2) is an outer component (16a), wherein the flange section (17) is provided on the inner component (16b) and the clamping ring (21) is designed and configured to lie, in its untensioned state, completely within a circular-cylindrical envelope surface (H) defined by an outer circumferential wall (22a) of the flange section (17) of the inner component (16b), and to protrude radially outwards beyond the outer circumferential wall (22a) of the flange section (17) in a tensioned state in which its circumference is widened by means of the screw (19) by axially adjusting the conical ring (20) in the direction of the flange ring end wall (17a) of the flange section (17) of the inner component (16b), so that the clamping ring (21) in its tensioned state can be inserted into the inner shell wall (23a) of the outer component (16a). [3] Clamping device according to claim 1, characterized bythat the first component (16.1) is an outer component (16a) and the second component (16.2) is an inner component (16b), wherein the flange section (17) is provided on the outer component (16a) and the clamping ring (21) is designed and configured to lie, in its untensioned state, completely outside a circular-cylindrical envelope surface (H) defined by an inner circumferential wall 22 of the flange section (17) of the outer component (16a), and to protrude radially inwards beyond the inner circumferential wall (22) of the flange section (17) in a tensioned state in which its circumference is widened by means of the screw (19) by axially adjusting the conical ring (20) in the direction of the flange ring end wall (17a) of the flange section (17) of the outer component (16a), so that the clamping ring (21) in its tensioned state can be inserted into the outer casing wall (23) of the inner component (16b). [4] Clamping device according to one of claims 1 to 3, characterized bythat the clamping ring (21) is designed as an open clamping ring (21) which has two clamping ring ends which are arranged at a distance from one another and pointing towards one another and which are arranged at a closer distance from one another in the untensioned state of the clamping ring (21) than in the tensioned state of the clamping ring (21). [5] Clamping device according to one of claims 1 to 4, characterized by that the at least one axial bore (18) is designed as a threaded bore and the shaft section (19b) of the screw (19) carries an external thread cooperating with the threaded bore. [6] Clamping device according to one of claims 1 to 5, characterized by that the flange ring end wall (17a) is provided with a countersink (24) coaxially surrounding the axial bore (18) and designed to receive a section of the conical ring (20) facing the flange ring end wall (17a) when the clamping ring (20) is in its tensioned state. [7] Clamping device according to one of claims 1 to 6, characterized by that the conical outer shell wall (20b) of the conical ring (20) is formed by a chamfer (25) of the conical ring (20) arranged in the transition region between the outer shell wall (20b) of the conical ring (20) and a second conical ring end wall (20c) facing the flange ring end wall (17a). [8] Clamping device according to one of claims 1 to 7, characterized by that the flange section (17) of the first component (16.1) is formed by a separate flange ring (17.1) which, by tightening at least one screw (19) and by tensioning the clamping ring (21), is supported both inwards against the first component (16.1) and outwards against the second component (16.2), and thereby fixes the first component (16.1) and the second component (16.2) relative to one another. [9] Clamping device according to one of claims 1 to 8, characterized bythat the flange section (17) has a plurality of axial bores (18) distributed over a circumference, on each of which a screw (19), a conical ring (20) and a clamping ring (21) are provided. [10] Robot arm with several links (G1-G7) and joints (L1-L6) which adjust the links (G1-G7) relative to one another, of which at least one joint (L1-L6) is designed as a rotary joint which automatically connects a first link (G1) of the robot arm (3) to an immediately adjacent second link (G2) of the robot arm (3) in a manner which can rotate relative to one another, wherein the rotary joint is assigned an electric motor for automatically driving the rotary joint, the stator body of which is inserted into the first link (G1) of the robot arm (3) or into the second link (G2) of the robot arm (3) and is fixed therein by means of a clamping device (15) according to one of claims 1 to 9. [11] Robot arm with several links (G1-G7) and joints (L1-L6) which adjust the links (G1-G7) relative to one another, of which at least one joint (L1-L6) is designed as a rotary joint which automatically connects a first link (G1) of the robot arm (3) to an immediately adjacent second link (G2) of the robot arm (3) in a manner which can rotate relative to one another, wherein the rotary joint is assigned a gear which has a bevel gear stage with a drive bevel gear and an output bevel gear which meshes with the drive bevel gear, wherein the drive bevel gear and / or the output bevel gear is fixed on a gear shaft of the gear by means of a clamping device (15) according to one of claims 1 to 9. [12] Robot arm with several links (G1-G7) and joints (L1-L6) which adjust the links (G1-G7) relative to one another, of which at least one joint (L1-L6) is designed as a rotary joint which automatically connects a first link (G1) of the robot arm (3) to an immediately adjacent second link (G2) of the robot arm (3) in a manner which can rotate relative to one another, wherein the rotary joint is assigned a gear which has a bevel gear stage with a drive bevel gear and an output bevel gear which meshes with the drive bevel gear, wherein the drive bevel gear and / or the output bevel gear is mounted together with a gear shaft of the gear in a bearing unit which is fixed to a housing component of the gear or a housing component of the rotary joint by means of a clamping device (15) according to one of claims 1 to 9.

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