<p>More nonflat crawling and wall transition operation scenarios place higher requirements for the performance of wall-climbing robots. In this paper, a split-flexible wall-climbing robot, which adopts a split structure of front and rear symmetry, and can realize flexible attitude adjustment on the curved surface through the track pitch mechanism, hinge mechanism, and damping hinge, is proposed. The robot can complete the transition crawling on right angle wall surface and thin wall surface. The mechanical analysis of several typical crawling states of the robot was performed to obtain the required magnetic adsorption force and motor driving torque, which were verified by dynamic simulation analysis. Tests of crawling and wall transition performance of prototype were performed. The rationality and feasibility of the design scheme were verified, which can provide some help for the application and performance research of this kind of wall-climbing robot.</p>