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.