The invention discloses an aerial walking robot lifting device mechanism, and belongs to the technical field of aerial operation robots. The aerial walking robot lifting device mechanism comprises a joist steel rail; an inverted V-shaped guide groove is fixed at one end of the joist steel rail, and is provided with a guide hole; the joist steel rail includes joist steel; guide rods are fixedly arranged at one end of the joist steel up and down, and are opposite to the guide hole of the reverse V-shaped guide groove up and down; the upper ends of the guide rods of the joist steel are connected with a left lifting steel wire rope; the upper end of the left lifting steel wire rope penetrates through the guide hole; the other end of the joist steel is connected with a right lifting steel wire rope; X-shaped baffle plates opposite to the reverse V-shaped guide groove up and down are arranged at one end, close to the guide rods, of the joist steel; and a baffle plate for preventing a robot from sliding out is fixed at the other end of the joist steel. The aerial walking robot lifting device mechanism is used for installation and unloading of a walking robot on a ceiling of a closed coal yard, facilitates charging and maintenance of the walking robot, and reduces the use and maintenance costs.