The invention belongs to the field of numerical control machining devices, in particular to a manipulator-free device for automatically changing tools under the condition of continuous rotation of a spindle for a machining center. The device comprises the spindle, tool handles, a tool repository and a numerical control system, wherein the spindle is provided with a speed regulating function and a circumferential-position real-time detecting and regulating function; each tool handle comprises an outer tapered handle body coaxially connected with the spindle, a tool body, a bearing arranged on the tool body in a sleeving manner, a groove, an A engaging unit and a tool; the tool repository comprises a plurality of tool positions and a tool position changing unit; each tool position comprises a tool clamp for clamping the corresponding tool, a tool driving motor for driving the corresponding tool to rotate, a circumferential-position real-time detecting and regulating system, and a B engaging unit engaged with the corresponding tool. The device for automatically changing tools under the condition of continuous rotation of the spindle can achieve rapid changes between the tools on the spindle of the machining center and tools in the tool repository under the condition of continuous rotation of the spindle, accordingly, auxiliary machining time during machining of the machining center is saved, the use efficiency of a numerical-control machine tool is improved, the machining cost is reduced, and the application prospect is broad.