The utility model discloses a double helix channel cam drive type wheel-paddle-leg integrated vehicle wheel mechanism. In the mechanism, a first drive shaft is fixedly connected with a double helix channel cam, the double helix channel cam is arranged on a double helix channel cam shaft supporting frame, the double helix channel cam shaft supporting frame is fixedly connected with a second drive shaft, a third drive shaft is fixedly connected on a wheel flange, a paddle middle shaft is fixedly connected with a paddle connecting sleeve, four paddles are hinged to the paddle connecting sleeve, four hinge blocks are hinged to the wheel flange, and each paddle and each hinge block form a sliding pair. According to the double helix channel cam drive type wheel-paddle-leg integrated vehicle wheel mechanism, the movement treads of a wheel resembling type, a leg resembling type, a wheel and leg combination type, a paddle rotating type and a paddle swing type of the wheel-paddle-leg integrated vehicle wheel mechanism can be formed, the defect that an existing moving obstacle crossing robot vehicle is poor in adaptive capacity in unstructured terrain and amphibious environment is overcome, and the terrain adaptability of the moving robot vehicle is effectively improved.