The invention provides a focusing device based on an inner coaxial shaft and a focusing method based on the inner coaxial shaft, and belongs to the technical field of laser machining. The device comprises a light source, a galvanometer focusing system, a spectroscope, a laser device, a camera lens and a sensor, wherein the light source is used for outputting a light beam to a workpiece, the lightbeam is irradiated on the surface of the workpiece to form a light beam state, the image information of the light beam state is transmitted to the spectroscope through the galvanometer focusing system, and the image information is transmitted to the camera lens and the sensor sequentially through the spectroscope; the imaging lens is used for transmitting the image information to the sensor, the sensor receives the image information and processes and analyzes the image information by software to obtain a mass center position of the light beam; and the laser device is used for outputting laser,the laser is reflected to the galvanometer focusing system through the spectroscope, and the laser is focused to the workpiece through the galvanometer focusing system. According to the focusing device, the problems of low focusing efficiency and poor consistency can be solved, and the laser machining efficiency is improved; and the focusing method based on the inner coaxial shaft uses the devicementioned above.