Wheel-leg mechanism and wheel-legged vehicle comprising same

A wheel-leg mechanism is provided. The mechanism comprises a thigh, the upper end of the thigh is movably arranged in a mounting seat for a thigh motor, and is in transmission connection with a thigh motor, and the thigh motor is fixedly provided on one side of the mounting seat for a thigh motor; a shank motor is arranged at the side, away from the thigh motor, of the thigh, a suspension shock absorption system is connected to the shank motor, the shank motor is in transmission connection with a shank by a synchronous belt, the shank is movably connected to the tail end of the thigh, a wheel is movably mounted at the tail end of the shank, and the wheel is in transmission connection with a hub motor; and a braking system is provided on the wheel. A wheel-legged vehicle having the wheel-leg mechanism is further provided.