A coupling device formed from a first coupling member and a second coupling member with a clamping structure for axially clamping the coupling members. At least three prismatic pins project from the first coupling member each of which is provided with at least one prismatic surface at at least one of the sides of the prismatic pin, and wherein three spaced z-reference surfaces are formed from the first coupling member which extend within a common x-y-plane transverse to the clamping direction. At least three grooves are formed in the second coupling member which are disposed in correspondence to the position of the prismatic pins and which are provided with axially elastic elements for exact positioning the coupling members relative to each other within the x-y-plane. The z-reference surfaces are formed from the free end surfaces of the prismatic pins and z-counter reference surfaces are formed from the base of each groove.