The invention aims to provide a teaching aid for measuring an industrial robot tool coordinate system and a using method of the teaching aid. The teaching aid is characterized in that comprising a fixed flange plate, a connecting rod, a TCP teaching head, a universal head and a coordinate direction shaft, wherein the middle part of the fixed flange plate is detachably connected with the connectingrod, a measuring tool for measuring a tool coordinate system is detachably fixed on the connecting rod, the measuring tool comprises the universal head and the TCP teaching head, and the coordinate direction shaft is detachably fixed on the universal head. According to the teaching aid, the tool coordinate system is materialized and visualized, the understanding difficulty of the tool coordinatesystem is reduced, teaching personnel can flexibly display the tool coordinate system and teach tool coordinate system calibration, the application level of students on the tool coordinate system is improved, and the industrial robot training effect is effectively promoted.