Robot tail end multi-mode grinding device and intelligent grinding method

The invention discloses a robot tail end multi-mode grinding device and an intelligent grinding method.The robot tail end multi-mode grinding device is mainly composed of a tail end connecting system, a plane grinding system, a curved surface grinding system and a positioning system, the tail end connecting system comprises a robot tail end connecting plate, a first air cylinder connecting plate and a second air cylinder connecting plate, and the positioning system comprises a depth camera and a software system; the plane grinding system comprises a pneumatic grinding machine, a plane grinding head, a transmission shaft, a plane grinding head connecting plate, a first anti-rotation guide rod and a first guide air cylinder. The curved surface grinding system comprises a second guide air cylinder, a second anti-rotation guide rod, a first curved surface grinding head clamp, a second curved surface grinding head clamp and a curved surface grinding head. In order to realize conversion between a plane grinding mod