In this paper, a double-rotor wheeled wall climbing robot is designed and a new transition method is proposed. The wall-climbing robot is using the counter-thrust force generated when the rotor rotates at high speed as the adsorption force, so that the robot can adsorb stably on the wall without slipping and tilting and can realize the transition from the ground to the vertical wall. The forces of the robot in different motion states were analyzed, and the overall structure of the robot was verified to meet the strength requirements by setting appropriate loads through finite element simulation. By numerical simulation of the aerodynamic characteristics of a single rotor when rotating, the pressure on the upper and lower surfaces of the rotor and the surrounding velocity vector, and the feasibility that the robot can be stably adsorbed to a vertical wall is verified.