Teaching track modification method and device based on three-dimensional program backspacing function

The invention discloses a teaching track modification method and device based on a three-dimensional program backspacing function, and can solve the problem that a traditional teaching track modification method cannot directly modify a program segment needing to be modified multiple times through the program backspacing function. The method comprises the following steps of monitoring R parameter vectors to acquire a program name and a numerical control NC path in an R parameter variable; extracting a corresponding program text, and storing and displaying the program text; executing a teachingprogram in a single step, and judging whether the track of a five-axis parameter in an Nth program line has deviation or not when the Nth program line walks step by step; if the track of the five-axisparameter has deviation, adjusting the track position of the five-axis parameter on the basis of the five-axis parameter, or re-taking the teaching sampling point in the Nth program row; and continuing to execute the teaching