The invention discloses a wheel-caterpillar-type detection rescue robot. The wheel-caterpillar-type detection rescue robot comprises a mechanical arm component, a wheel caterpillar component, an jacking component, a camera and a car body; the mechanical arm component is driven by a motor, and rotation on a horizontal plane and a vertical plane can be realized; the front section of a mechanical armis provided with a detector for detection; the wheel caterpillar component comprises a main support, a driving wheel component, supporting wheels, a tension wheel and a caterpillar; the jacking component comprises an jacking sliding component and a jack; the jacking sliding component drives opening and closing of mechanical claws through a motor; and the jacking component jacks a heavy object through a first-stage sleeve, a second-stage sleeve and a third-stage sleeve. By adopting the wheel-caterpillar-type detection rescue robot, auxiliary rescue on a disaster site can be realized; the wheel-caterpillar-type detection rescue robot is high in ground applicability and high in speed; modular design is adopted by the wheel-caterpillar-type detection rescue robot, so that disassembly and assembly are convenient; and maintenance is easy.