Disclosed is a walking carrier mechanism (10), comprising a wheel (11) and a support component (12), wherein the wheel (11) comprises a tire (111), a rim (112) and a hub (113). The tire is fixedly arranged on the periphery of the rim； the rim rotatably surrounds the periphery of the hub； and the support component is driven by a drive mechanism and in transmission connection with the hub so as to drive the wheel to cross a barrier. Further disclosed is a carrier device, comprising an object stage, a drive mechanism and a walking carrier mechanism, wherein the drive mechanism is movably connected to the object stage； and the walking carrier mechanism is in transmission connection with the drive mechanism. The walking carrier mechanism is only composed of the wheel and the support component, and thus the whole structure thereof is compact and occupies a small space. During travelling, the rim drives the tire to rotate, and during barrier crossing, the support component is supported against the ground to lift the wheel to cross a barrier, so that various drive functions are integrated, and the problem that a drive mechanism for a carrier device has a loose structure and occupies a large space is solved, thereby satisfying the requirement of miniaturization-oriented development of the carrier device.L'invention concerne un mécanisme porteur pour marche à pied (10), comprenant une roue (11) et un composant support (12), la roue (11) comprenant un pneu (111), une jante (112) et un moyeu (113). Le pneu est monté à demeure sur la périphérie de la jante ； la jante entoure de manière rotative la périphérie du moyeu ； et le composant support est entraîné par un mécanisme d'entraînement et se trouve en liaison de transmission avec le moyeu de façon à entraîner la roue pour franchir un obstacle. L'invention concerne en outre un dispositif porteur, comprenant un plateau porte-objet, un mécanisme d'entraînement et un mécanisme porteur pour marche à pied, le mécanisme d'entraînement
