The invention relates to the technical field of underground coal mine exploration, and particularly discloses an underground coal mine exploration robot lifting type exploration mechanism. The underground coal mine exploration robot lifting type exploration mechanism comprises a bottom plate, four-bar mechanisms, a supporting platform and a sensor assembly; the supporting platform is supported anderected over the bottom plate through the two four-bar mechanisms which are symmetrically arranged on the two sides, the two four-bar mechanisms which are symmetrically arranged on the two sides areconnected with each other through supporting shafts, and two supporting connection bars at the top ends of the four-bar mechanisms are in hinged connection with two upper hinge seats slidably arrangedon the lower surface of the supporting platform; the sensor assembly is arranged on the supporting platform; two supporting connection bars at the bottom ends of the four-bar mechanisms are in hingedconnection with two lower hinge seats arranged on the bottom plate; and the bottom plate is further provided with an adjusting mechanism for adjusting the relative distance between the two lower hinge seats. According to the underground coal mine exploration robot lifting type exploration mechanism, the height of the position where the sensor assembly is located can be adjusted, accordingly, sufficient simulation is conducted, and hazardous gases on different heights of layers are explored.