Variable stiffness adjusting method and variable stiffness mechanism

The invention discloses a variable stiffness adjusting method and a variable stiffness mechanism, and the method comprises the following steps: when a system is switched into a buckling leg lifting stage, a driving assembly is started to pull the other end of a tension spring assembly, at the same time, a locking assembly locks one end of the tension spring assembly to a first leg swinging part, stretching is performed to generate a tensile force, and at the same time, the locking assembly locks the other end of the tension spring assembly to a second leg swinging part; the driving assembly also enables the compression assembly to be far away from the compression spring assembly to relieve the pressure, so that the tension of the tension spring assembly is not influenced; when the system is switched to the stretching stage, the driving assembly pulls the tension spring assembly back to the direction of the locking assembly, meanwhile, the locking assembly is unlocked, the tension spring assembly is allowed to