Aiming at the accuracy of calibration results of robot tool coordinate system, a noncontact tool center frame （TCF） calibration method based on structured light was used to calibrate the tool coordinate system of selfmade serial robot. The related coordinate system, calibration principle and structured light vision imaging system involved in the calibration process are introduced, and the calibration algorithm of TCF is deduced in detail. The experimental steps of TCF calibration are elaborated. Kinova Mico2 robot is taken as the research object. By pasting the “ten” label on the tool, the center and laser projection of the "ten" label are restrained. The coordinates of the pixels in the image are the same after the shadow points coincide, and the average value is obtained as the result of calibration after multiple positioning constraints. The results show that the noncontact TCF calibration method based on structured light has stable calibration results for tool coordinate system, and the accuracy of data meets the needs of production.