The invention aims to provide a folding type probing mechanical arm based on triangular configured connecting rod transmission. The folding type probing mechanical arm comprises a telescopic mechanism, a pitching mechanism and a rotating mechanism. The telescopic mechanism comprises a telescopic motor, a telescopic lead screw, a telescopic lead screw slider, a telescopic rod and a telescopic bracket, and the telescopic motor is controlled to realize relative sliding of the telescopic rod and the telescopic bracket. The pitching mechanism comprises a pitching motor, a pitching lead screw slider, a pitching lead screw, a pitching frame, a pitching rod, a pitching rod connecting frame and a triangular configured connecting rod. The rotating mechanism comprises a rotating motor, a gearbox, a main gear and a pinion. When a robot cannot move due to spatial limit, the tail-end implementing mechanism of the robot still can stably reach any point in space coordinates within a controllable range, the tail-end implementing mechanism can be equipped with a CCD (charge coupled device) camera to observe the internal condition of a closed space and also can be equipped with a clamping mechanism. When vital signals in the closed space is observed, food, water and medicine and the like can be correspondingly provided for the first time, and search and rescue and detection task can be completed well.