In 1952 and 1953, Heinrich took part in a zoological expedition to Mexico. Between the years 1953 and 1963, he participated in expeditions to Africa, mainly to collect birds and mammals for Yale University, the University of Kansas, and the Field Museum of Natural History. During this time, he expanded his collection of ichneumon flies. Between 1953 and 1955, Heinrich participated in an expedition to Mount Moco and Mount Soke, Angola, West Africa. In 1957 and 1958 Heinrich returned to West Africa. From 1961 to 1963 he took part in an expedition to Tanganyika, Mount Meru, the Usambara mountains, the Uluguru Mountains, the Livingston range and Mount Rungwe and the Ufipa Plateau in Tanzania and Rhodesia. In 1963, Heinrich visited South Africa.