Combined wheel and leg type motion platform

The utility model discloses a combined wheel and leg type motion platform. The motion platform comprises a rack, and more than two front wheel-leg components and more than two rear wheel-leg components, which are connected to the bottom of the rack. The rack comprises a front body plate and a rear body plate, which are hinged. Each of the front and rear wheel-leg components comprises a large leg swing arm, a wheel mechanism and a small leg swing arm. One end of each large leg swing arm is hinged with the rack, and can swing around a hinge point, and the other end of each large leg swing arm is connected with one end of the corresponding small leg swing arm to form an elbow part, and can swing around the elbow part to be folded. Each wheel mechanism is arranged on the middle section of the corresponding small leg swing arm. A foot part for walking is arranged at the tail end of the bottom of each small leg swing arm. The motion platform has the advantages of simple and compact structure, motion stability and reliability, high controllability, easiness for the switching of motion modes, high obstacle crossing capability and the like.