Shot blasting-grinding and polishing integrated machining end effector and control method thereof

The invention relates to the technical field of machining equipment, and provides a shot blasting-grinding and polishing integrated machining end effector and a control method thereof. The shot blasting-grinding and polishing integrated machining end effector comprises an angle adjusting mechanism, a switching mechanism, a grinding mechanism, a shot blasting mechanism and a control mechanism; the angle adjusting mechanism comprises a central gear, an inner gear ring, a bottom cover, a planetary gear, a support, an end cover and an angle adjusting servo motor. The angle adjusting servo motor is arranged at one end of the support, and an output shaft of the angle adjusting servo motor extends out of the end of the support. The switching mechanism comprises a commutation servo motor and a commutation manipulator; the grinding mechanism comprises a machining motor, a machining motor frame and a grinding and polishing head. The machining motor is installed on the commutation manipulator through a machining motor f