摘要：【中文】一种法兰朝下四轴机器人的工具标定方法，包括：a、操作机器人，使待标定的机器人工具末端点在机器人处于至少两种不同的位姿状态下分别运动到同一空间位置点，并记录机器人的法兰坐标系在每一位姿状态下的位姿数据；b、根据步骤a获得的位姿数据求出工具坐标系的Z轴到法兰坐标系的X轴的距离x以及到法兰坐标系的Y轴的距离y。本发明能够对法兰朝下的四轴机器人的工具进行标定，且标定过程简单，标定效率高。 【EN】A tool calibration method of a four-axis robot with a downward flange comprises the following steps: a. operating the robot to enable the tail end point of the robot tool to be calibrated to move to the same spatial position point respectively when the robot is in at least two different pose states, and recording pose data of a flange coordinate system of the robot in each pose state; b. and c, calculating the distance X from the Z axis of the tool coordinate system to the X axis of the flange coordinate system and the distance Y from the Z axis of the tool coordinate system to the Y axis of the flange coordinate system according to the pose data obtained in the step a. The tool calibration device can calibrate the tool of the four-axis robot with the flange facing downwards, and is simple in calibration process and high in calibration efficiency.