The invention discloses a vision sensing device for welding seam tracking. The vision sensing device for welding seam tracking is used for jointly achieving automatic tracking of welding seams with amagnetic control arc sensor. Before welding starts, a vision sensor acquires an image of a to-be-welded workpiece under the condition that optical filters for light are not increased or decreased, andrecognizing and guiding of the welding initial position and planning of the welding gun trajectory are completed. Next, the vision sensor is made to swing to be aligned with a welding gun, at the moment, a slider 1 is automatically loaded to a light passing hole, the left and right deviation information during welding starts to be acquired, a deviation signal acquired by the magnetic control arcsensor is used for joint correction to achieve welding seam tracking, after the welding gun trajectory path acquired at the beginning is completed, it is needed to swing the vision sensor again so asto acquire a front weldment image, in the process from that the vision sensor is aligned with the welding gun to swing to that the vision sensor is perpendicular to a workpiece, a slider 2 is automatically loaded to the light passing hole to perform continuous sampling on the weldment image, the accurate welding seam image is acquired by means of image treatment, the accurate welding seam image and the deviation information acquired by the magnetic control arc sensor are used for joint accurate tracking, and automatic welding is completed.