The utility model discloses a round trip flight wheel tight -wire walking robot structure, its balancing unit includes, lower equalization frame and last, the flywheel balances down, on, equalization frame installs in the support frame on the base plate down, on, balanced flywheel difference horizontal installation is in last down, down in the equalization frame, be equipped with on the support frame through in the link gear drive, the equalization frame motor of the synchronous antiport of lower equalization frame low -angle, be equipped with on the support frame and detect respectively, equalization frame rotates the equalization frame encoder of range down, the last high -speed rotatory balanced flywheel motor of driven equilibrium flywheel and the balanced flywheel encoder of detection rotational speed of being equipped with of equalization frame, its running gear is including installing in preceding, the back steel wire walking wheel of base plate bottom and setting up the walking turbin generator of a steel wire walking wheel of drive and detect the walking wheel encoder of rotational speed. The utility model discloses the effective control organism in the gesture in when slope, realized the self -balance control of organism on rigidity or flexible steel wire.