Tool calibration device and method for machining robot, terminal and medium

The invention discloses a tool calibration device and method for a machining robot, a terminal and a medium, the flexible adjustable characteristic of the device can enable the axis of a tool spindle of the robot to be accurately fitted, and the point of an actual tool tip of the robot can be adjusted to coincide with the center of a target ball. According to the calibration method, a first coordinate system of the laser tracking measurement system coincides with a robot flange coordinate system, and a second coordinate system based on the laser tracking measurement system is established by combining a target ball position center point coincided with a tool nose point with a tool spindle axis. And reversely solving the attitude of the tool by using the rotation matrix relationship between the first coordinate system and the second coordinate system. And finally, error verification and error iterative correction are performed on the center point of the robot tool based on dynamic measurement characteristics of