Aiming at the problems of poor scalability of industrial robot drag teaching technology and difficulty in market application promotion,based on binocular vision,the robot virtual drag teaching technology was studied to reduce the cost of robot drag teaching.According to the requirements of the robot terminal attitude acquisition,an experimental platform for acquiring the terminal attitude based on binocular vision was designed,and the method of acquiring the terminal attitude was studied.The fusion method of the virtual prototype of the robot and the virtual prototype of the end effector was studied through coordinate transformation technology,and the construction of the virtual drag teaching model of the robot in the ADAMS environment was realized.The virtual model driving function was designed based on the end posture data,the method of acquiring the robot joint angle sequence was studied,and the robot virtual drag teaching trajectory reproduction was realized.The example of using a brush as the end effector of the robot verifies the feasibility of the robot virtual drag teaching technology based on binocular vision.The virtual drag teaching technology avoids complex robot inverse kinematics solving problems and provides a convenient method for robot trajectory planning.