The invention discloses a closed-
chain type walking 
leg mechanism, and belongs to the technical field of 
robot vehicle walking. The walking 
leg mechanism comprises a first closed-chain mechanism (thighs part) and a second closed-chain mechanism (shanks part), each 
thigh adopts a 
crank-swing block mechanism and comprises an installing bracket, a connecting rod, a 
crank, a sliding block, a motor, a sliding bearing, a rotating shaft, a guide rail, a 
crank shaft and a connecting rod shaft; each shank adopts a crank-rocker mechanism and comprises a sliding block, a motor, a guide rail, a leg rod, a sliding bearing, a crank shaft, a crank and a connecting rod; and each crank-swing block mechanism of the corresponding 
thigh is used for controlling up-and-down moving and back-and-forth swinging of the leg rod of the walking 
leg mechanism, and each crank-rocker mechanism of the corresponding shank is used for controlling extend-retract of the leg rod of the walking leg mechanism. According to the closed-
chain type walking leg mechanism, the walking function on a complex roadway can be achieved through synergistic driving of the motors of the 
thigh parts and the motors of the shank parts; and the closed-
chain type walking mechanism can be applied to a walking 
system of an obstacle-climbing vehicle or a 
robot.