Glazing robot off-line teaching device and teaching method

The present invention relates to an off-line glazing robot-demonstrating device, which belongs to the field of industrial robots. The demonstrating mechanism of the off-line glazing robot-demonstrating device has the same degree of freedom, the same type and number of hinges, the same mechanism size and the same operating space as the actual glazing robot does, joints are connected together by link rods, and the rotary shafts of the joints are respectively connected with an encoder. A demonstrating ejection gun is assembled on the end of the demonstrating mechanism and held by a hand in order to demonstrate, and a data-acquiring unit acquires and records the position and the speed of each joint and the on-off state of the ejection gun. A touch switch is assembled on the end of the demonstrating mechanism, the shape and the size of the surface of a workpiece are measured, and then the three-dimensional model of the workpiece is built in a computer. A glazing process simulation software simulates the piling process and the thickness distribution of glaze on the surface of the workpiece in the process of glazing. A data transmission unit converts the acquired data into a control program for the glazing robot, and then the glazing robot conducts a glazing action according to a data sequence. The off-line glazing robot-demonstrating device has the advantages of light weight, flexibility, high demonstration efficiency and convenient operation, and the glazing process simulation can forecast the thickness distribution of the glazed layer of the surface of the workpiece.