End effector calibration method and device, industrial robot and storage medium

The invention provides an end effector calibration method and device, an industrial robot and a storage medium, and relates to the technical field of robot tool calibration. According to the method, a first end controller which is calibrated before replacement and a second end controller which is not calibrated after replacement are aligned to the same preset position; the pose relation of a tool coordinate system of the first end effector relative to an industrial robot base coordinate system and the pose relation of a flange coordinate system of the tail end of the industrial robot relative to the industrial robot base coordinate system are obtained; the position and posture relation of the tool coordinate system, used for calibrating the second end executor, of the second end executor relative to the flange coordinate system of the tail end of the industrial robot is determined according to the position and posture relation of the tool coordinate system of the second end executor relative to the flange coo