The invention belongs to the technical field of inspection robots, and particularly relates to an inspection robot walking opening and closing mechanism. The inspection robot walking opening and closing mechanism comprises an opening and closing driving mechanism, a first connection rod mechanism, a second connection rod mechanism, a first walking wheel support, a second walking wheel support and a walking mechanism, wherein the opening and closing driving mechanism is arranged on the inspection robot body and outputs power along a vertical direction; the first connection rod mechanism and the second connection rod mechanism are symmetrically arranged at two sides of the opening and closing driving mechanism and are connected with the output end of the opening and closing driving mechanism; one end of the first walking wheel support and one end of the second walking wheel support are respectively connected with the first connection rod mechanism and the second connection rod mechanism respectively, and the other ends are closed ends; the walking mechanism is arranged at the closed end of the first walking wheel support or the second walking wheel support; and the first walking wheel support and the second walking wheel support are opened or closed through driving of the opening and closing driving mechanism. Thus, a transmission line is constantly in sealed space formed by the supports and the connection rods, the robot can be effectively prevented from line separation, and the safety protection is good.