High-degree-of-freedom hard light path transmission device for laser shock peening

Abstract

The utility model discloses a high-degree-of-freedom hard light path transmission device for laser shock peening, and the device comprises a transmission path adjustment assembly which is used for adjusting a transmission position in a three-dimensional space; the reflecting mirror group is arranged on the transmission path adjusting assembly and is used for reflecting the laser pulse emitted by the laser; the focusing lens and the galvanometer are installed at the end of the transmission path adjusting assembly, and the focusing lens is located above the galvanometer; one end of the angle adjusting assembly is connected with the reflector group, and the other end is connected with the transmission path adjusting assembly, and the angle adjusting assembly is used for adjusting the operation angle of the reflector group; and the controller is electrically connected with the transmission path adjusting assembly and the angle adjusting assembly. According to the high-degree-of-freedom hard light path transmission device, a more efficient, accurate and flexible solution is provided for the laser shock peening technology by improving the machining flexibility, optimizing the laser beam quality, accurately controlling the machining process, enhancing the adaptability and improving the system integration degree and reliability.

Description

TECHNICAL FIELD

[0001] The utility model belongs to surface engineering technical field, concretely relates to a kind of high degree of freedom hard light path transmission device for laser shock peening. BACKGROUND

[0002] As a kind of frontier surface engineering technology, laser shock peening (LSP) utilizes high-energy laser pulse to induce shock wave on material surface, and then residual compressive stress is generated in material surface layer, which effectively improves the fatigue life, corrosion resistance and wear resistance of material.The technology shows wide application prospect in aerospace, automobile manufacturing, energy equipment and other fields, especially in processing high-strength alloy, titanium alloy and other difficult-to-machine materials, its advantage is particularly prominent.The traditional laser shock peening system mostly adopts fixed light path design, that is, laser beam is guided to workpiece surface through a series of fixed mirrors and lens system.This design is simple and reliable, but when dealing with complex shape, large size or multi-angle machining workpiece, it is not flexible enough, and the machining range is limited.At the same time, due to the difficulty in adapting to the geometric shape and size change of different workpieces, the processing efficiency is greatly affected, and it is difficult to meet the urgent needs of modern manufacturing industry for high precision and high efficiency processing.In recent years, with the rapid progress of robot technology and automatic control technology, mechanical arm is widely used in laser processing field.Mechanical arm can flexibly adjust position and posture in three-dimensional space with its high degree of freedom, which brings a new solution to laser shock peening technology.However, the current mechanical arm laser processing system mostly adopts soft light path transmission mode (such as optical fiber transmission), although the flexibility is significantly improved, but when transmitting high-energy laser, it faces the problems of large energy loss and beam quality degradation, which limits its application potential in high-power laser shock peening field to some extent. UTILITY MODEL CONTENT

[0003] The utility model aims at providing a kind of high degree of freedom hard light path transmission device for laser shock peening, to solve the technical defects in the prior art that mechanical arm laser processing system mostly adopts soft light path transmission mode, although flexibility is significantly improved, but when transmitting high-energy laser, it faces the problems of large energy loss and beam quality degradation.

[0004] In order to achieve the above purpose, the utility model adopts the following technical solutions to achieve:

[0005] A kind of high degree of freedom hard light path transmission device for laser shock peening, comprising:

[0006] Transmission path adjusting assembly is used to adjust transmission position in three-dimensional space;

[0007] A mirror group is arranged on the transmission path adjusting assembly and is used for reflecting the laser pulse emitted by the laser;

[0008] A focusing lens and a galvanometer are mounted on the end of the transmission path adjusting assembly, and the focusing lens is located above the galvanometer;

[0009] An angle adjusting assembly is connected with one end of the mirror group and the other end of the transmission path adjusting assembly and is used for adjusting the working angle of the mirror group;

[0010] A controller is electrically connected with the transmission path adjusting assembly and the angle adjusting assembly.

[0011] Further, the transmission path adjusting assembly comprises a plurality of mechanical arms which are connected in sequence; the mirror group comprises an arm-outer initial reflector, a bottom-middle reflector, a bottom-up reflector and an arm-up double-sided reflector, the arm-outer initial reflector, the bottom-middle reflector and the bottom-up reflector are arranged on the mechanical arm at one end;

[0012] The focusing lens and the galvanometer are arranged on the mechanical arm at the other end, and the arm-up double-sided reflector is arranged on the mechanical arm in the middle.

[0013] Further, the number of the arm-up double-sided reflectors is multiple.

[0014] Further, the mechanical arm on which the arm-outer initial reflector, the bottom-middle reflector and the bottom-up reflector are mounted is axially parallel to the mechanical arm on which the focusing lens and the galvanometer are mounted.

[0015] Further, the arm-outer initial reflector, the bottom-middle reflector and the bottom-up reflector are on the same horizontal line.

[0016] Further, the angle adjusting assembly comprises a driving member and a back plate, the back plate is arranged on the transmission path adjusting assembly, the driving member is arranged on the back plate, the driving end of the driving member is connected with the mirror group, and the mirror group is rotationally connected with the middle part of the back plate through a connecting rod.

[0017] Further, the back plate and the transmission path adjusting assembly are connected through bolts.

[0018] Further, the back plate is of a ring structure.

[0019] Further, the driving member is an electric push rod or a linear motor.

[0020] Further, there is a gap between the focusing lens and the galvanometer.

[0021] Compared with the prior art, the utility model has the following beneficial effects:

[0022] 1、Transmission path adjustment assembly can adjust the transmission position in three-dimensional space, so that the laser beam can flexibly reach any position on the workpiece surface, no matter the shape, size or processing angle of the workpiece, it can adapt to the laser shock peening needs of various complex workpieces; secondly, through hard light path transmission, the energy loss and beam quality decline problems that may occur in soft light path transmission can be avoided, and the hard light path transmission can maintain the high energy density and good focusing property of the laser beam, thereby improving the effect of laser shock peening.

[0023] 2、The sequential connection of multiple mechanical arms forms a high-degree-of-freedom mechanical structure, which can make large-range position adjustment in three-dimensional space, greatly improving the spatial flexibility and accessibility of processing; and the combination of the mirror group and the mechanical arm realizes efficient transmission and accurate guidance of the laser beam.

[0024] 3、By reasonably arranging multiple arm double-sided mirrors, the light path layout can be optimized, and energy loss and beam distortion in the light path can be reduced, each mirror can accurately reflect the laser beam, ensuring that the laser beam maintains high-quality beam characteristics during transmission, thereby improving the effect of laser shock peening. BRIEF DESCRIPTION OF DRAWINGS

[0025] In order to more clearly illustrate the technical scheme of the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as limiting the scope. For those skilled in the art, other related drawings can also be obtained without creative labor on the basis of these drawings.

[0026] Figure 1 The high-degree-of-freedom hard light path transmission device for laser shock peening provided by the present application is shown in the overall schematic view.

[0027] Figure 2 The mirror group installation plan view in the high-degree-of-freedom hard light path transmission device for laser shock peening provided by the present application is shown.

[0028] Wherein: 1, laser; 2, arm outer initial mirror; 3, bottom middle mirror; 4, bottom upward mirror; 5, arm double-sided mirror; 6, first mechanical arm; 7, second mechanical arm; 8, third mechanical arm; 9, fourth mechanical arm; 10, fifth mechanical arm; 11, focusing lens; 12, galvanometer; 13, workpiece to be processed; 14, controller. DETAILED DESCRIPTION

[0029] In order to make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the technical scheme of the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings herein can be arranged and designed in various different configurations.

[0030] Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the claimed present application, but only represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative labor fall within the scope of protection of the present application.

[0031] It should be noted that: similar reference numbers and letters represent similar items in the following drawings, therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0032] In the description of the embodiments of the present application, it should be noted that if the terms "upper", "lower", "horizontal", "inner" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship of the product of the present application when it is usually placed, which is only for the convenience of describing the present application and simplifying the description, and therefore cannot be understood as indicating or implying that the device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second" and the like are only used to distinguish the description, and cannot be understood as indicating or implying relative importance.

[0033] In addition, if the term "horizontal" appears, it does not mean that the component must be absolutely horizontal, but can be slightly inclined. For example, "horizontal" only means that its direction is relatively more horizontal than "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0034] Laser shock peening (LSP), a cutting-edge surface engineering technology, utilizes high-energy laser pulses to induce shock waves on the material surface, thereby generating residual compressive stress in the material's surface layer. This effectively improves the material's fatigue life, corrosion resistance, and wear resistance. This technology shows broad application prospects in aerospace, automotive manufacturing, energy equipment, and other fields, especially when processing high-strength alloys and titanium alloys, which are difficult to process. Traditional laser shock peening systems often employ a fixed optical path design, where the laser beam is guided to the workpiece surface through a series of fixed mirrors and lenses. While this design is simple and reliable, it lacks flexibility and limits the processing range when dealing with complex shapes, large sizes, or workpieces requiring multi-angle processing. Furthermore, it struggles to adapt to variations in the geometry and size of different workpieces, significantly impacting processing efficiency and failing to meet the urgent demands of modern manufacturing for high-precision and high-efficiency processing. In recent years, with the rapid advancements in robotics and automation control technologies, robotic arms have become increasingly widely used in laser processing. With their high degrees of freedom, robotic arms can flexibly adjust their position and posture in three-dimensional space, providing a completely new solution for laser shock peening technology. However, most current robotic arm laser processing systems use soft optical path transmission methods (such as fiber optic transmission). Although this significantly improves flexibility, it faces challenges such as high energy loss and reduced beam quality when transmitting high-energy lasers, which to some extent limits its application potential in the field of high-power laser shock enhancement.

[0035] In order to overcome the above-mentioned technical defects, the inventors have provided a high degree of freedom hard optical path transmission device for laser shock enhancement.

[0036] The present invention will now be described in further detail with reference to the accompanying drawings:

[0037] like Figures 1-2 As shown, this utility model embodiment provides a high-degree-of-freedom hard optical path transmission device for laser shock enhancement, comprising: a transmission path adjustment component for adjusting the transmission position in three-dimensional space; a reflector group disposed on the transmission path adjustment component for reflecting laser pulses emitted by a laser 1; a focusing lens 11 and a galvanometer 12 mounted at the end of the transmission path adjustment component, with the focusing lens 11 positioned above the galvanometer 12; an angle adjustment component connected at one end to the reflector group and at the other end to the transmission path adjustment component for adjusting the working angle of the reflector group; and a controller 14 electrically connected to the transmission path adjustment component and the angle adjustment component. Figure 1As shown, the transmission path adjusting assembly is vertically installed on the ground, the mirror group is installed on one end of the transmission path adjusting assembly close to the laser 1, the focusing lens 11 and the galvanometer 12 are installed on the other end of the transmission path adjusting assembly away from the laser 1, and during the process of the laser 1 emitting laser pulses, the laser beam is transmitted into the focusing lens 11 through the mirror group, then the focusing lens 11 transmits the laser beam into the galvanometer 12, and finally the galvanometer 12 acts on the surface of the workpiece 13 to be processed for machining. In the above structure, the transmission path adjusting assembly can adjust the transmission position in three-dimensional space, so that the path of the laser beam can be flexibly adjusted according to actual needs, and can adapt to workpieces 13 of different shapes, sizes and positions, improving the flexibility and applicability of machining; by accurately adjusting the angle of the mirror, the laser beam can be ensured to be accurately transmitted to the target position, the focusing lens 11 is located above the galvanometer 12, which is used to focus the laser beam to a smaller spot size, thereby improving the energy density and machining precision of the laser; the angle adjusting assembly is connected with the mirror group, which is used to adjust the working angle of the mirror group, so that the direction of the laser beam can be accurately controlled, further improving the accuracy and flexibility of machining. The controller 14 is electrically connected with the transmission path adjusting assembly and the angle adjusting assembly, realizing integrated control of the device, and through programming or manual operation of the controller 14, the path, direction and focus point of the laser beam can be easily adjusted, improving the automation degree and efficiency of machining.

[0038] Further, the transmission path adjusting assembly includes a plurality of mechanical arms connected in sequence; the mirror group includes an arm outer initial mirror 2, a bottom middle mirror 3, a bottom upward mirror 4 and an arm upper double-sided mirror 5, the arm outer initial mirror 2, the bottom middle mirror 3 and the bottom upward mirror 4 are arranged on the mechanical arm at one end; the focusing lens 11 and the galvanometer 12 are arranged on the mechanical arm at the other end, and the arm upper double-sided mirror 5 is arranged on the mechanical arm in the middle. From Figure 2As can be seen, the mechanical arm includes a first mechanical arm 6, a second mechanical arm 7, a third mechanical arm 8, a fourth mechanical arm 9 and a fifth mechanical arm 10, which are connected in sequence, and a plurality of arm-mounted double-sided mirrors 5 are arranged; wherein the outer initial mirror 2, the bottom middle mirror 3 and the bottom upward mirror 4 are installed on the first mechanical arm 6, and the arm-mounted double-sided mirrors 5 are installed at the connection between the first mechanical arm 6 and the second mechanical arm 7, the connection between the second mechanical arm 7 and the third mechanical arm 8, the connection between the third mechanical arm 8 and the fourth mechanical arm 9, and the connection between the fourth mechanical arm 9 and the fifth mechanical arm 10; in the above structure, the plurality of mechanical arms are connected in sequence to form a highly flexible mechanical structure, so that the positions of the mirror group and the focusing lens 11 and the galvanometer 12 can be adjusted in a large range and multiple degrees of freedom in three-dimensional space, thereby realizing accurate control of the laser beam path; at the same time, the arm-mounted double-sided mirrors 5 are installed at the connection of the plurality of mechanical arms, which helps to reduce energy loss and beam distortion in the optical path, improve the quality and stability of the laser beam, and further increase the flexibility of optical path adjustment. By adjusting the angles and positions of the plurality of mechanical arms, the transmission direction of the laser beam can be easily changed to adapt to the needs of different processing scenes.

[0039] As shown in Figure 1 , the mechanical arm on which the outer initial mirror 2, the bottom middle mirror 3 and the bottom upward mirror 4 are installed is axially parallel to the mechanical arm on which the focusing lens 11 and the galvanometer 12 are installed. The first mechanical arm 6 is fixed to the ground and axially perpendicular to the ground, and the fifth mechanical arm 10 is axially parallel to the first mechanical arm 6. This arrangement, on the one hand, enables the transmission path adjustment assembly to be stable on the ground without the risk of collapse; on the other hand, since the workpiece 13 to be processed is placed horizontally, the fifth mechanical arm 10 is axially parallel to the first mechanical arm 6, which can enable the transmitted light beam to accurately act on the surface of the workpiece 13 to be processed.

[0040] As shown in Figure 1 , the outer initial mirror 2, the bottom middle mirror 3 and the bottom upward mirror 4 are on the same horizontal line, which ensures that the path of the laser beam remains consistent and smooth during reflection, helping to reduce scattering and deviation of the light beam during reflection and improve the straightness and accuracy of the optical path. At the same time, since the mirrors are on the same horizontal line, the calibration process of the optical path becomes relatively simple, and the operator only needs to adjust the angle of the mechanical arm or the mirror to ensure that the laser beam is accurately transmitted along the predetermined path without the need for complex individual calibration of each mirror.

[0041] In this embodiment, the angle adjusting assembly includes a driving member and a back plate. The back plate is arranged on the transmission path adjusting assembly, and the driving member is arranged on the back plate. The driving end of the driving member is connected with the mirror group, and the mirror group is rotationally connected with the middle part of the back plate through a connecting rod (not shown in the figure). The presence of the driving member makes it convenient to adjust the angle of the mirror group. By controlling the operation of the driving member, the position of the mirror group can be accurately adjusted, thereby changing the reflection direction of the laser beam. This flexible angle adjusting capability is crucial for adapting to different processing needs and scenarios. The driving member can be preferably an electric push rod or a linear motor. Secondly, the mirror group is rotationally connected with the middle part of the back plate through the connecting rod, which can ensure the reliability of the rotation of the mirror group during angle adjustment. The driving member usually has high-precision control capability, which can realize fine adjustment of the angle of the mirror group. This high-precision adjustment capability ensures that the laser beam can be accurately reflected to the predetermined position, improving the processing precision and consistency. The back plate serves as the support structure of the driving member and the mirror group, providing a stable mounting basis. At the same time, the rotational connection of the connecting rod with the middle part of the back plate also enhances the stability of the system, reducing the risk of angle deviation caused by vibration or external force impact. Finally, the design of the angle adjusting assembly facilitates integration with other systems or components. The driving member can be remotely controlled by a control system, realizing automatic and intelligent angle adjustment. This convenient integration and control feature makes the laser shock peening device more suitable for the needs of modern production lines.

[0042] In this embodiment, the back plate is of a ring structure, and the back plate and the transmission path adjusting assembly are connected by bolts. The ring structure of the back plate provides a larger support area, making the connection between the back plate and the transmission path adjusting assembly more stable. As a reliable connection method, the bolt connection can ensure that the back plate will not easily deform or loosen under stress, thereby improving the stability of the entire mechanical arm system. The bolt connection makes the connection between the back plate and the transmission path adjusting assembly more flexible. When maintenance or replacement of parts is needed, the bolts can be easily removed, the back plate can be taken off, and necessary operations can be performed before reinstallation. This design reduces maintenance costs and improves work efficiency. In addition, since the back plate is of a ring structure, its center of gravity is relatively low, which helps to reduce the angle deviation caused by vibration or external force impact. At the same time, the bolt connection can ensure the accurate alignment between the back plate and the transmission path adjusting assembly, thereby improving the accuracy of the angle adjustment of the mirror group.

[0043] In this embodiment, there is a gap between the focusing lens 11 and the galvanometer 12. During laser processing, both the focusing lens 11 and the galvanometer 12 may generate heat due to laser irradiation. If they are in close contact, the heat may be conducted to each other, resulting in uneven temperature rise and affecting the performance and lifespan of the optical components. The gap can effectively isolate this thermal effect, ensuring that the focusing lens 11 and the galvanometer 12 operate in a suitable temperature environment. In addition, the galvanometer 12 needs to rotate quickly and precisely to control the direction of the laser beam. If the focusing lens 11 and the galvanometer 12 are in close contact, mechanical vibration or friction may interfere with the normal operation of the galvanometer 12. The gap can eliminate this mechanical interference and ensure the stable operation of the galvanometer 12.

[0044] In practical application, the laser 1 is first placed on a stable workbench, ensuring its emission port is aligned with the initial reflector 2 outside the arm. Then, based on the working characteristics and safety requirements of the laser 1, the corresponding power supply, cooling system, and control circuit are connected to ensure that the laser 1 can stably emit high-energy laser pulses. Next, multiple robotic arms are installed and debugged. During the debugging process, professional debugging equipment and software are used to calibrate the motion accuracy of each joint of the robotic arm, ensuring that each joint can accurately adjust its angle and displacement according to instructions. At the same time, a closed-loop control system is connected to the robotic arm to monitor and provide feedback on the motion parameters of each joint in real time, ensuring the accuracy and stability of the robotic arm's movement. Then, according to requirements, the initial reflector 2 on the outside of the arm, the bottom center reflector 3, the bottom upward reflector 4, and the double-sided reflector 5 on the arm are precisely installed on multiple robotic arms. Simultaneously, using high-precision measuring instruments, such as a laser tracker, or a device with the same function, the initial spatial coordinates of the center point of each reflector are measured and recorded. Based on the spatial coordinates of the robotic arms, a correlation model of the spatial coordinates of the center points of the reflectors is established, providing basic data for the subsequent precise adjustment of the reflector angles by the controller 14. Subsequently, a focusing lens 11 is installed at a suitable position at the end of the fifth robotic arm 10, ensuring that its optical axis is consistent with the transmission direction of the laser beam after passing through the reflector group, effectively focusing the laser beam. After installing the focusing lens 11, a galvanometer 12 is installed to ensure that the galvanometer 12 can quickly and accurately change the direction of the laser beam and that its communication connection with the controller 14 is normal, accurately receiving and executing the commands issued by the controller 14.

[0045] According to the shape and size of the workpiece 13 to be processed, a suitable tooling fixture is selected to firmly clamp the workpiece 13 on the workbench. The position and attitude of the workpiece 13 in the working space are accurately determined by using a positioning system such as a three-coordinate measuring instrument, and the relevant information is fed back to the controller 14, so that the controller 14 can accurately control the laser beam to act on the specified position of the workpiece 13 to be processed. The controller 14 is electrically connected with the laser 1, the transmission path adjusting assembly, the angle adjusting assembly, the galvanometer 12 and other devices to ensure stable signal transmission. The pre-established mechanical arm kinematics model, mirror space coordinate model and laser processing parameters such as laser energy, pulse frequency and spot size are input into the controller 14. At the same time, the processing path of the laser on the surface of the workpiece 13 to be processed is planned according to the shape, size and processing requirements of the workpiece 13 to be processed, and the relevant path information is input into the controller 14.

[0046] Before operation, the power supply of the entire device is turned on, and the laser 1, the transmission path adjusting assembly and the controller 14 and other devices are started. The laser 1 is preheated to reach a stable working state, and the plurality of mechanical arms return to the initial position, and the angles of the mirrors are adjusted to the initial set values. Then the controller 14 is initialized, and the pre-set parameters and processing path information are loaded. The laser 1 emits high-energy laser pulses, and the laser beam is first irradiated onto the outer initial mirror 2, and then transmitted by the outer initial mirrors 2 on the plurality of mechanical arms. As the plurality of mechanical arms start to move according to the pre-set processing path, the joint arms drive the upper double-sided mirrors 5 on them to move synchronously. In the movement process, the closed-loop control system monitors the movement parameters of each joint of the mechanical arm in real time, and feeds these parameters back to the controller 14. The controller 14 calculates the coordinate information of the incident point, the reflection point and the exit point of the laser beam at the current time according to the real-time space coordinates of the mechanical arm and the pre-established mirror center point space coordinate model. Then, the angles of the mirror group are adjusted in real time by controlling the driving member to ensure that the laser beam can accurately reflect and transmit between the mirrors of the mechanical arm along the pre-set hard light path.

[0047] When the laser beam is transmitted to the position close to the workpiece 13 to be processed, the focused lens 11 focuses the laser energy in a small spot range. At this time, the galvanometer 12 quickly and accurately adjusts the direction of the laser beam according to the instructions from the controller 14, so that the focused laser beam accurately acts on the specified position on the surface of the workpiece 13 to be processed, generates a shock wave, and realizes laser shock strengthening treatment.

[0048] When the whole laser shock peening task of the workpiece 13 to be processed is completed, the laser 1 stops emitting laser pulses, each mechanical arm joint returns to the initial position, each mirror angle returns to the initial setting value, and the power supply of the controller 14, the mechanical arm and other devices is turned off. Finally, the device is comprehensively checked to see whether the emission performance of the laser 1 is normal, whether the movement accuracy of each joint of the mechanical arm is changed, whether the mirror surface is contaminated or damaged, whether the optical performance of the focusing lens 11 and the galvanometer 12 is good and the like.

[0049] Finally, it should be noted that: the above examples are only used to illustrate the technical solutions of the present application, but not to limit the scope of protection, although the above-mentioned embodiments of the present application are described in detail, those skilled in the art should understand: the skilled in the art can still make various changes, modifications or equivalent replacements to the specific embodiments of the present application after reading the present application, but these changes, modifications or equivalent replacements are all within the scope of protection of the claims of the present application.

Claims

1. A high degree of freedom hard optical path transmission device for laser shock peening, characterized by, The application relates to a laser transmission device, which comprises the following components: a transmission path adjusting component for adjusting a transmission position in three-dimensional space; a mirror group arranged on the transmission path adjusting component for reflecting laser pulses emitted by a laser (1); a focusing lens (11) and a galvanometer (12) installed at the end of the transmission path adjusting component, and the focusing lens (11) is located above the galvanometer (12); an angle adjusting component connected with one end of the mirror group and the other end of the transmission path adjusting component for adjusting the working angle of the mirror group; a controller (14) electrically connected with the transmission path adjusting component and the angle adjusting component.

2. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 1, characterized in that, The transmission path adjusting component comprises a plurality of mechanical arms which are connected in sequence; the mirror group comprises an arm-external initial mirror (2), a bottom-middle mirror (3), a bottom-up mirror (4) and an arm-up double-sided mirror (5), the arm-external initial mirror (2), the bottom-middle mirror (3) and the bottom-up mirror (4) are arranged on the mechanical arm located at one end; the focusing lens (11) and the galvanometer (12) are arranged on the mechanical arm located at the other end, and the arm-up double-sided mirror (5) is arranged on the mechanical arm located in the middle.

3. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 2, characterized in that, The number of the arm-up double-sided mirrors (5) is multiple.

4. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 2, characterized in that, The mechanical arms provided with the arm-external initial mirror (2), the bottom-middle mirror (3) and the bottom-up mirror (4) are axially parallel to the mechanical arms provided with the focusing lens (11) and the galvanometer (12).

5. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 2, characterized in that, The arm-external initial mirror (2), the bottom-middle mirror (3) and the bottom-up mirror (4) are located on the same horizontal line.

6. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 1, characterized in that, The angle adjusting component comprises a driving member and a back plate, the back plate is arranged on the transmission path adjusting component, the driving member is arranged on the back plate, the driving end of the driving member is connected with the mirror group, and the mirror group is rotationally connected with the middle part of the back plate through a connecting rod.

7. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 6, characterized in that, The back plate and the transmission path adjusting component are connected through bolts.

8. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 6 or 7, characterized in that, The back plate is in a ring structure.

9. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 6, characterized in that, The driving member is an electric push rod or a linear motor.

10. The high degree of freedom hard optical path transmission device for laser shock peening according to claim 1, characterized in that, There is a gap between the focusing lens (11) and the galvanometer (12).

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