Welding seam tracking sensor capable of preventing tack-fixing point interference and welding equipment

The invention provides a welding seam tracking sensor capable of preventing tack-fixing point interference and welding equipment. The welding seam tracking sensor comprises a line laser, a line structured light camera, an auxiliary camera, an auxiliary light source and a control unit. The line laser, the line structured light camera, the control end of the auxiliary camera and the auxiliary light source are connected with the control unit. The auxiliary camera and the auxiliary light source are additionally arranged on an original structure to detect the weldment background of the welding seam, whether laser of the line laser reaches the tack point or not is recognized through the control unit, and therefore the welding seam tracking sensor is assisted to avoid detection of the tack point, and detection errors are avoided. 本发明提供了一种防点固点干扰的焊缝跟踪传感器及焊接设备，包括：线激光器、线结构光相机、辅助相机、辅助光源和控制单元；线激光器、线结构光相机、辅助相机的控制端、辅助光源均与控制单元连接。通过在原有结构上增加辅助相机和辅助光源来检测焊缝的焊件背景，经控制单元识别出是否线激光器的激光已经到达点固点，从而辅助焊缝跟踪传感器避开点固点的检测，避免检测出错。