The utility model discloses a tunnel geological radar rapid detection robot device. Wherein the information acquisition device is provided with a special radar cable and interface and two sets of information acquisition telescopic arms; the telescopic arm comprises a telescopic arm fixing support; wherein the first section of longitudinal fixed arm and the second section of longitudinal telescopicarm are used for adjusting the longitudinal height, the transverse steering arm and the third section of transverse fixed arm are used for adjusting the height angle and the azimuth angle, the plastic bolt and the radar fixing frame are used for fixing a radar antenna, and the cable containing buckle is used for fixing a radar cable. The energy device is located on the device chassis and comprises a charging device for charging an internal storage battery and a storage battery device, and an infrared sensor is arranged at the front end of the energy device and used for detecting obstacles encountered in the advancing process of the robot. The tunnel lining detection device is reasonable in structural design, small in occupied space, low in construction cost, easy to operate and capable offacilitating rapid detection of tunnel linings.