The invention relates to the field of robots, in particular to an off-line
programming teaching device and method based on a teaching
robot, and the device comprises a
working environment simulation disc which comprises a disc body, a plurality of installation seats are fixedly connected to the disc body, and a placement platform is arranged at the top of the disc body; the teaching mechanism comprises a base, the base is detachably connected with the mounting base, a
robot simulator is arranged on the base, and a sensing
assembly is arranged on the
robot simulator; the workpiece simulator comprises a
machine body, an inertial sensor and a
gyroscope are arranged in the
machine body, a plurality of pressure recognition nodes are arranged on the outer surface of the
machine body, and the
simulation module is used for constructing a
simulation environment and further used for adjusting the action track of the
virtual robot based on a preset workpiece model and the pressed coordinates and converting the action track of the
virtual robot to output a compiling program. By the adoption of the technical scheme, virtual simulation and
manual traction can be combined, construction of the
working environment is reduced, and meanwhile the operation precision of the robot is improved.