The invention provides a swinging arm structure of an automobile/robot. The swinging arm structure is in transmission connection with an upper body of the robot through a power transmission mechanism arranged on the upper body of the robot and comprises a wheel, an upper arm and a lower arm; the wheel is nested in the upper arm and forms a whole with the upper arm; the wheel and the upper arm are in transmission connection with the power transmission mechanism respectively; the upper arm can perform fore-and-aft swinging action under the drive of the power transmission mechanism; and the lower arm and the upper arm are rotatably connected through a connecting pole and can perform the arm bending action. The swinging arm structure of the automobile/robot is used in the automobile/robot, can realize the fore-and-aft swinging of the arm, and also can realize the arm bending action between the upper arm and the lower arm.