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Permanent magnet wall-climbing robots are widely used in the maintenance of tanks in the petrochemical industry and the overhaul of large-pressure pipelines in the hydropower industry. One of the difficulties is to achieve the safe and reliable adsorption of wall-climbing robots. Based on the Halbach array, a double-layer superposition magnetic circuit magnetization method is designed in this paper. Under the same constraints, the adsorption force of the permanent magnetic chuck is increased by at least <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>8</mn><mo>%</mo></mrow></semantics></math></inline-formula> compared with the traditional magnetic circuit design method. Under the working air gap of 1∼9 mm, the average magnetic energy utilization rate is increased by at least <inline-formula><math xmlns="http://www.w3.org/1998/Math/MathML" display="inline"><semantics><mrow><mn>16.46</mn><mo>%</mo></mrow></semantics></math></inline-formula>. This approach not only improves the magnetic energy utilization of the permanent magnetic chuck but also improves the adsorption safety of the wall-climbing robot.