The invention provides a half-rotating mechanism with a convex-contour-surface groove, and belongs to the technical field of bionic machines. The half-rotating mechanism comprises a main shaft, a crank, a moving shaft, a half-rotating rod, a shaft sleeve, a longitudinal sliding groove, a sliding block, an auxiliary shaft and a rack, wherein the main shaft and the auxiliary shaft are mounted on the rack, one end of the crank is fixedly connected with the main shaft, and the other end of the crank is fixedly connected with the moving shaft; the moving shaft is mounted in the shaft sleeve and can rotate relative to the shaft sleeve, and the shaft sleeve is fixedly connected to the middle of the half-rotating rod; and the longitudinal sliding groove is formed in the half-rotating rod in the axis direction of the half-rotating rod, and the sliding block is fixedly connected with the auxiliary shaft and can slide in the longitudinal sliding groove. According to the half-rotating mechanism, the defects that a half-rotating rod in an existing half-rotating mechanism is unstable in movement, sliding block contact force is large, and the bearing capacity is low are overcome, and the performance of various machines based on the half-rotating mechanism can be greatly improved.