It's possible but requires you to modify the DOCLINKS relationship on the WORKORDER object in Database Configuration. The way we surface asset, location, etc. attachments on the work order is by including them in this relationship.
You'd first need to get the INSPECTIONRESULT (using something like referenceobjectid=:wonum and siteid=:siteid and orgid=:orgid and inspformnum=:inspformnum) and join that to INSPFIELDRESULT to see doclinks where the ownertable='INSPFIELDRESULT' and the ownerid is in the inspfieldresultid returned from INSPFIELDRESULT.
Inspections are able to be tied to the WORKORDER, tasks, or MULTIASSETLOCCI so your logic becomes pretty complex if you need at those other levels