The invention relates to a wheel type robot with a walking system, and the walking system is formed by combing foot type walking devices with a driving device and is connected with a fixing frame (7); each foot type walking device is composed of a follower gear (1), a leg type supporter and a hanging mechanism (15) provided with wheels (16). One connection point of the leg type supporter is hinged with an eccentric point of the follower gear (1), and the other connection point of the leg type supporter is hinged with the connection point of the hanging mechanism; the number of the foot type walking devices is at least two, and the hanging devices (15) of at least two foot type walking devices are provided with electric motors (19) for driving wheels (16) to rotate; the driving device is provided with a main electric motor and a main drive shaft (6) which is provided with a main drive gear (4) engaged with the follower gear (1). The wheel type robot with the walking system has the characteristics of high motion velocity, simple control and flexible turning, and has the function of foot walking, so that the robot has more adaptive capacity to the ground.