The invention belongs to the field of
numerical control machining devices and specifically relates to an automatic tool changer (ATC) with a
manipulator and an incessantly rotating spindle for a
machining center. The ATC comprises the spindle, tool handles, a tool
magazine, the tool changing
manipulator and a
numerical control system. The spindle has the functions of speed governing and circumferential position real-time detection and adjusting. Each tool
handle comprises an outer conical
handle body coaxially connected with the spindle, a tool body, a bearing arranged on the tool body in a sleeving mode, a groove, a meshing device A and a tool. The tool
magazine comprises a plurality of tool positions and a tool position changing device. Each tool position comprises a conical sleeve used for clamping the corresponding tool, tool driving motors, a tool circumferential position real-time detection and adjusting
system, and a meshing device B meshing with the corresponding tool. The tool driving motors drive the tools to rotate. Through the ATC, fast tool changing can be achieved between a tool on the spindle of the
machining center and the tools in the tool
magazine under the circumstance that the spindle rotates incessantly, so that the auxiliary
machining time during machining of the machining center is saved, the
service efficiency of a numerically-controlled
machine tool is improved, the machining cost is reduced, and the application prospects are wide.