Structurally decoupled six-foot drilling and milling robot

The invention relates to a structurally decoupled six-foot drilling and milling robot. The structurally decoupled six-foot drilling and milling robot mainly comprises a robot body provided with a drilling and milling electric spindle, six mechanical legs and six feet provided with absorption devices, wherein the six mechanical legs are of the same structure, and each mechanical leg is a three degree of freedom decoupling mechanism containing a closed loop in a branched chain; the six mechanical legs are mechanically and electrically connected with the robot body through a rack respectively, and are connected with the body through a fixing support to form regularly hexagonal distribution; the tail end of each mechanical leg is connected with the corresponding feet provided with the corresponding absorption device through a spherical hinge; the drilling and milling electric spindle is arranged at the central position of the robot body; a drilling and milling cutter is mounted on the drilling and milling electric spindle. Moving and positioning are carried out on the surface of an object to be machined in a walking mode, and drilling and milling are realized, so that the machining range can be enlarged, the machining route is optimized, and the machining efficiency and machining precision are improved.