A new second-order adaptation rule and its application to electrical model synthesis

In a tool storage device for a machine tool, a tilting mechanism is provided with a positioning member fixed in a magazine base, a turning member turnably mounted to the outer periphery of the positioning member. The center of turning of a tool pot is kept at a specified position by the positioning member so that the tool pot is integrally turned with the turning member by turning the turning member by a link rod to a tool storage state or to a tool exchange state. The center of turning of the tool pot agrees with that of the turning member, so that a friction force is not produced therebetween. The link rod is driven hydraulically by a cylinder which is locked to maintains the final position of the tool pot when the fluid supply to the cylinder is stopped. The tool pot is restricted from dropping from the transfer mechanism.