The combination of binocular vision systems and robots in welding allows real-time tracking of welds,which can improve welding quality.The robot end tool center point(TCP) of (welding gun)is the actual motion trajectory, and its calibration accuracy directly affects the quality of the work.To solve the problem, based on the binocular measurement andcombined the characteristics of hand-eye relationship and imaging symmetry, a method for rapid calibration of robot TCP parameters based on hand-eye relationship is proposed.Through comparison experiments with the four point method, the correctness and effectiveness of the proposed method were verified.Without increasing the cost, the rapid and correct calibration of TCP was completed.It meets the calibration requirements of the robot end tool parameters in the actual industrial production.