The invention belongs to the field of biomass energy utilization, and relates to a grinding belt-type device for rapid catalytic pyrolysis of biomass and a method. The device comprises a hopper, a feed system, a grinding belt-type pyrolysis reactor, a gas-solid separation system, a pyrolysis gas condensation system, a combustion system, a bio-oil collection tank, a charcoal collection tank, an airpreheating system and a flue gas purification system, wherein the grinding belt-type pyrolysis reactor comprises grinding belts, heating tubes, driving drums, tensioning devices, a sealed casing, a feed inlet, a discharge opening and a gas outlet. Pretreated material particles are continuously sheared and rubbed by the grinding belts with speed difference on two sides, and are heated by the multi-layer heating tubes to continuously pyrolyze on the surface while stripping the residual charcoal, so that a catalyst and heat can be fully fed inside the particles; the pyrolysis gas is rapidly condensed by gas-solid separation to obtain high-grade bio-oil fuel or bio-oil rich in specific high value-added products; combustible gas and coke produced by combustion generate high-temperature flue gas for heating the heating tubes, so as to achieve an autothermal pyrolysis process.