Aiming at the problem that the pneumatic flexible shutdown hexapod robot has low leg joint lifting height and poor obstacle crossing ability, a leg joint lifting mechanism based on parallel four-bar mechanism is designed. We built a kinematics experiment platform and carried out kinematics experiment research on the prototype. The experimental results show that the lifting mechanism can effectively increase the height of leg joints by 19 mm, which enlarges the obstacle-surmounting ability of the robot to 1.63 times that of the original, and lays a foundation for the research of the pneumatic flexible joint hexapod robot.