The principle of laser tracking is that the vision sensor scans the weld through the laser stripe to obtain the parameters such as the cross-sectional area of the weld,the gap of the weld and the height of the left and right staggered edges of the weld. The data is transmitted to the robot through the equipped robot interface. The robot can adjust the welding swing,swing frequency, swing left and right residence time, welding speed, welding current and voltage in real time according to the weld section parameters scanned by the laser tracking vision sensor, so as to realize high-speed and high-quality adaptive welding.