Crawler-type bionic wall-climbing robot sole structure

The utility model discloses a crawler-type bionic wall-climbing robot sole structure which comprises a body frame, rolling wheels, a tension mechanism and an adhesive crawler belt, and further comprises a drive mechanism arranged on the body frame. The rolling wheels are installed at two ends of the body frame through rolling wheel axles; the tension mechanism comprises a tension wheel frame, a tension spring, a mini force sensor, a tension wheel and a sleeve. The sleeve is arranged on the upper surface of the body frame; the mini force sensor is arranged on the upper surface of the sleeve; the tension wheel frame comprises a shaft extension and an installment end; the lower end of the shaft extension penetrates through the mini force sensor and the sleeve; the tension spring is sleeved on the shaft extension, and is arranged between the mini force sensor and the installment end; the tension wheel is installed on the installment end through the tension wheel, and is connected with the rolling wheels through the adhesive crawler belt. The crawler-type bionic wall-climbing robot sole structure outputs certain tangential displacement and a certain position angle through a robot body, achieves palm adhesion, detachment and pressing, and helps a robot to walk and stay on a wall surface.