The invention discloses a sole structure of a crawler-type bionic wall-climbing
robot. The sole structure comprises a
body frame, rolling wheels, a tension mechanism, an adhesion crawler belt and a driving mechanism, wherein the rolling wheels are arranged at the two ends of the
body frame through rolling wheel axles; the tension mechanism comprises a tension wheel frame, a tension spring, a micro
force sensor, a tension wheel and a sleeve; the sleeve is arranged on the upper surface of the
body frame; the micro
force sensor is arranged on the upper surface of the sleeve; the tension wheel frame comprises a shaft extension and a mounting end; the lower end of the shaft extension passes through the micro
force sensor and the sleeve; the shaft extension is sleeved with the tension spring; the tension spring is arranged between the micro force sensor and the mounting end; the tension wheel is arranged at the mounting end through a tension wheel axle; the tension wheel is connected with the rolling wheels through the adhesion crawler belt; the driving mechanism is arranged on the body frame. Certain
tangential displacement and posture angles are output by a
robot body, so that adhesion, detachment and pressing of the sole are realized, and the
robot is helped to walk and stop on a wall face.