Swing type wheel arm paw composite inspection robot mechanism

The utility model relates to a mobile inspection robot, in particular to a swing type wheel arm paw composite inspection robot mechanism, which comprises a front paw, a back paw, a front arm, a back arm and an aligning mechanism, wherein the front paw and the back paw have the same structure consisting of a walking mechanism and a clamping mechanism, and the front paw and the back paw respectively clamp ground wires through the walking mechanism and the clamping mechanism and can walk on the ground wires; the front arm and the back arm have the same structure consisting of a swing mechanism, a rotary mechanism and a vertical telescopic mechanism, and one end of the swing mechanism is connected with the paws; the other end of the swing mechanism is connected with the rotary mechanism, and the driving of the swing mechanism achieves the swing of the paws in a vertical plane and the change of horizontal distance and vertical height between walking wheels of the two walking mechanisms of the paws; the driving of the rotary mechanism achieves the rotation of the swing mechanism and the paws in a horizontal plane, and one end of the vertical telescopic structure is connected with the rotary mechanism; and the other end of the vertical telescopic structure is connected with the aligning mechanism. The utility model is favorable for walking, climbing and obstacle crossing, and has good adaptability and safety protective performance for wires.