The invention discloses a dry adhesion mechanism based on belt-driven wedge-shaped bristle bundles, and relates to the technical field of adhesion mechanisms, including a supporting outer frame, a wedge-shaped bristle bundle unit, a belt-driven tangential loading unit, a transmission unit, a displacement-force conversion unit and a normal Drive unit; the wedge-shaped bristle bundle unit contacts and adheres to the target, one end of the transmission unit is connected with the wedge-shaped bristle bundle unit, the other end is connected with the displacement-force conversion unit, and the transmission unit is also connected with the normal drive unit; the normal drive unit generates the driving displacement and driving force, the transmission unit is used to convert the driving displacement and driving force into the tension in the transmission unit, and the transmission unit transmits the tension to the wedge-shaped bristle bundle unit; the belt-driven tangential loading unit is located above the wedge-shaped bristle bundle unit, supporting tangential Load and unload. The invention realizes the stable tangential loading and unloading of the wedge-shaped bristle bundle, reduces the difficulty of mechanism manufacture, increases the feasibility, and meets the reliable and stable picking application requirements of flexible circuit boards, flexible films, and the like.