The invention relates to an adaptive tracking elastic sensor for welding grooves, which is composed of an upper tracking seat and a lower tracking seat; each of the two tracking seats includes a tracking seat body, a four-hinge connecting rod mechanism, a piston assembly, and a detection roller ;The four-hinge linkage mechanism includes a connecting rod, a static hinge shaft, and a dynamic hinge shaft. The other two opposite hinge shafts are also the shafts of the detection rollers on the side of the welding groove; The seat body is a whole; the piston rod is movably connected with the dynamic hinge shaft, and the static hinge shaft is movably connected with the inner side of the other end of the tracking seat body. The advantages of the present invention are: two sets of elastic sensors are symmetrically installed and used, which can simultaneously save the mechanical displacement amount-power conversion, deviation signal identification, calculation of control adjustment amount, and multiple process control links of electric adjustment, and there is no need to establish a mathematical model; Complete the three-dimensional direction of the welding groove and self-adaptive centering at the same time; the system error is small, the manufacturing difficulty is low, the balance of the force system is easy to adjust, and the tracking dimension is high.