Curved surface jointed board welding device and method based on line laser and camera cooperation

The invention relates to a curved surface jointed board welding device based on line laser and camera cooperation, the welding device comprises a movable gantry and a welding robot matched with the movable gantry, the welding robot is provided with a three-wire gas protection welding gun, and the three-wire gas protection welding gun is provided with a line laser sensor; the movable gantry comprises an X-axis moving mechanism, a Y-axis moving mechanism and a Z-axis moving mechanism, the X-axis moving mechanism is provided with double linear guide rails, and a jig frame array composed of a plurality of movable jig frames is arranged between the double linear guide rails of the X-axis moving mechanism. When the three-wire gas shielded welding system is used, ship curved surface segmented jointed plates are generally welded by thick plates, the reasonable and efficient three-wire gas shielded welding system is designed according to the scheme, three welding seams can be welded at a time, the welding operation ti