The invention relates to the field of laser welding, in particular to a non-contact type robot laser welding teaching positioning method. The non-contact type robot laser welding teaching positioningmethod includes the specific steps that firstly, a teaching center is driven by a robot to move and make contact with a calibrated plane to determine an auxiliary laser calibration position point; secondly, a welding laser device is driven by the robot to move and eject out a laser device guiding light path to form a light spot on the auxiliary laser calibration position point, the posture of a space multi-freedom-degree adjusting frame is adjusted, a light spot generated by an auxiliary laser light path ejected out of an auxiliary laser generator on the calibrated plane is made to coincide with the light spot generated by the laser device guiding light path, and the posture of the space multi-freedom-degree adjusting frame is fixed; and thirdly, during welding teaching, the welding laserdevice is adjusted through the robot till the light spots generated by the laser device guiding light path and the auxiliary laser light path on a welding object coincide with each other, and a teaching target position point is acquired. By means of the non-contact type robot laser welding teaching positioning method, the welding trajectory planning efficiency can be improved, and the possibilitythat interference happens in the teaching process is reduced.