The invention discloses a wheel-leg combined type mobile robot platform. The robot comprises a machine frame, a front wheel-leg system and a rear wheel-leg system, wherein the front wheel-leg system comprises a front shaft, three front wheel legs, a front motor, a rack and a front transmission system; the rear wheel-leg system consists of two subsystems of a leg swinging system and a driving system and is arranged on the back part of the machine frame; the leg swinging system comprises a shaft frame, a rear shaft, a matched shaft, two same shaft sleeves, four same rear wheel legs, two same first group rear motors and a rear transmission system; the driving system are divided into two parts which are symmetrical left and right and have the same structure, and the two parts are independently driven by two identical second group rear motors respectively; and each part comprises combined wheels, chains, belts, small belt wheels and small chain wheels. The robot platform adopts a wheel-leg combined type structure, so that the robot platform is simple in structure and can be easily controlled; the robot platform can move on the even terrain in a wheel mode, and the energy consumption is lowered; and the robot platform can move on the complex terrain in a wheel-leg combined mode, the efficiency is improved.