The invention discloses an
eagle claw climbing structure suitable for a cylindrical wall surface, and relates to the technical field of wall-
climbing robots, the
eagle claw climbing structure comprises an
upper joint structure, a lower joint structure and a
tail end structure which are sequentially installed and connected, and the
tail end structure comprises a sole and at least two
toe structures arranged at the front end and the rear end of the sole respectively; the fixed end of a
toe driving
machine of the
toe structure is fixedly installed on the sole, and the output end of the toe driving
machine outputs the motion of driving a pricking needle of the toe structure to lift up or grab down so as to desorb or grab the wall surface. The
upper joint structure, the lower joint structure and the toe structure cooperate to act, the toe structure performs bending gripping and stretching loosening actions to realize gripping and
desorption of a cylindrical wall surface, the
upper joint structure performs forward stretching and backward retracting actions to drive the foot sole and the toe structure to extend forwards or retract backwards, and the lower joint structure performs pitching action, so that the foot sole and the toe structure are driven to move forwards or backwards. And the foot sole and toe structures are driven to
pitch up or down, so that the wall-climbing
robot can adapt to the operation of the wall surface environment, and the application environment of the wall-climbing
robot is further expanded.