The invention discloses a wing and wheel combined abutting type bridge crack detection robot, and belongs to the technical field of robots. The wing and wheel combined abutting type bridge crack detection robot comprises a movable trolley, a rotor wing mechanism, a control system and a mobile terminal. The rotor wing mechanism is provided with two propellers, and the two propellers are driven by two rotary motors to rotate reversely. The control system comprises a control module, a detection module, motor drive modules, a power supply module and a wireless communication module. A camera of thedetection module is used for acquiring image information of the surface of a bridge and transmitting the image information to the control module, and the control module carries out analysis accordingto the image information and judges whether a crack exists in the surface of the bridge or not. A diastimeter of the detection module is used for measuring the size of the crack. The wireless communication module is used for carrying out information interaction with the mobile terminal. The problem that the precision of existing automatic detection equipment for detecting the crack of the bridgedoes not reach the detection requirements is solved.