Welding device for line laser welding seam tracking and quality penetration control based on T/K/Y jacket

The invention relates to the field of T/K/Y jacket welding, in particular to a T/K/Y jacket-based linear laser welding seam tracking and quality penetration control welding device, which comprises a welding gun, and a welding seam tracking module driven by an X-Z axis motion control module is arranged on the front side of the welding gun. A welding gun posture feedback control module and an electromagnetic induction preheating module are installed on the lower portion of the front side of the welding seam tracking module, a gas detection module is arranged beside the welding seam tracking module, the rear side of the welding gun is further connected with a mass penetration control module, and a stress release module is further arranged between the mass penetration control module and the welding gun. The sensor effectively solves the problems that a jacket T/K/Y node welding seam tracking laser vision sensor is single in feedback information, poor in flexibility, complex in stress release after welding, diffic