ABSTRACT To ensure comprehensive coverage of welds, multi-axis motions are necessary for the probe during the automatic detection of complex welds. Guaranteeing the effectiveness of ultrasonic data during this process is crucial for ensuring detection accuracy and reliability. Taking tubular Y-joints as an example, this paper presents an adaptive probe posture correction method based on structural signal monitoring: (1) The structural and acoustic model of tubular Y-joints is established to select and predict the target structural signal. (2) Feature extraction and signal tracking algorithms are developed to achieve real-time monitoring of signals. (3) A posture correction method is proposed based on signal characteristics: time-domain characteristics correspond to position adjustments, while amplitudes correspond to orientation corrections. Building upon this, a feedback mechanism for probe posture is established. The effectiveness of the developed method is verified through underwater automatic detection experiments of tubular Y-joints. Results demonstrate that, with the assistance of the probe posture correction method, the coverage of the effective area increases to more than 95%, and embedded defects are fully detected through a single scan. In conclusion, the adaptive probe posture correction method based on structural signal monitoring presents a promising approach for the automatic ultrasonic examination of complex welds.