The invention discloses a teaching robot data acquisition system based on optical motion capturing. Modules are mainly divided into a calibration module, a switch communication module, a data processing module, a monitoring module and a teaching robot module, wherein the data processing module sends an acquisition command to the calibration module through the switch communication module to obtainteaching motion data, the teaching motion data are poses, of operation tools in the teaching motion process, acquired by the calibration module, the data processing module is used for acquiring the poses of the operation tools, carrying out coordinate transformation and generating a motion command which can be executed by a robot, the motion command is sent to the robot module through WiFi, the monitoring module is used for sending a control command to each module and monitoring the whole system so as to enable the teaching robot to complete the same actions as the teaching actions, and then teaching is realized. According to the teaching robot data acquisition system, an optical motion capturing system is adopted for real-time acquisition, compared with the prior art, the teaching robot data acquisition system has good the remote control performance, the acquired data are highly precise, and the stability of teaching is realized.