The invention relates to a search and rescue robot used in pit, belonging to the robot technology field. The search and rescue robot comprises an explosion-resistant enclosure, two sets of symmetrical running system, independent swinging arm systems and a controlling system; transmission mechanisms of the controlling system, the running systems and the swinging arm systems are arranged in the explosion-resistant enclosure, the controlling system is connected with a driving mechanism, a mechanical cradle head and an optical fiber laying device are arranged above the explosion-resistant enclosure, the optical fiber of the optical fiber laying device is electrically connected with the controlling system, a sensor group is internally arranged in the mechanical cradle head, and the sensor group and a cradle head drive plate are electrically connected with the controlling system. A static positive pressure explosion-resistant enclosure is adopted in the invention, when the static positive pressure is reached, the moving ability of the robot is improved. A four-swinging-arm independent driving mechanism is adopted, the posture of the robot is accurately controlled, and the adaptbility and the barrier jumping ability of the robot to a complex terrain are increased. The method of vehicle-mounted optical fiber is adopted, the optical fiber is laid freely during movement, and the effect to the moving ability of the robot, which is caused by the friction of the optical fiber and the clamping of the optical fiber, is reduced.