The invention relates to a new type of motion driving mechanism. The walking body adopts a helical mechanism. When the helical mechanism contacts the ground surface, a strong friction pair is formed by the helical contact line or the helical contact surface. Movement or combined horizontal and vertical arbitrary given movement, so as to achieve the purpose of walking movement, this driving form is different from the traditional walking movement, has a strong driving ability, can climb over various obstacles, climb stairs smoothly, and is not affected by various Road restrictions, can adapt to the off-road driving of complex terrain and landforms in the field, can be applied to rescue and disaster relief with complex road conditions or unknown road surfaces, earthquake rescue, obstacle-breaking tools, vehicles for people or materials to climb stairs, etc. The principle of the new spiral walking motion mechanism is simple, It has high reliability, low cost, wide application fields, can be realized in a variety of ways, and can be combined with multiple functions and multiple operation mode applications.