The invention designs a power transmission line inspection robot with a novel structure by virtue of the bionic action principle, and the power transmission line inspection robot improves power transmission line inspection efficiency, improves continuous working ability and is simple to control. The power transmission line inspection robot comprises a robot unit and image pickup units, wherein the robot unit comprises joint bodies, grippers and solar panels; the joint bodies are mechanically connected and fixed to the grippers; and the robot unit is connected to a power transmission line through the grippers. According to the bionic transmission line inspection robot, a structural body of an inchworm form is adopted, a bionic peristaltic type climbing and obstacle crossing method is adopted, the structure of the power transmission line inspection robot is simple, and number of drivers needed for motion is small; the inchworm motion is periodical action, and therefore, control is simple; solar energy is utilized for charging, so that complementary charging of light energy and storage batteries is realized, and therefore, continuous inspection ability is improved; the image pickup units are adopted for carrying out obstacle identifying and obstacle avoiding, so that obstacle avoiding effect is improved; a unit type motion structure is adopted, so that reconfigurability and fault tolerance are improved; and the power transmission line inspection robot is integrally a front-rear symmetrical structure, so that linear inspection realizes motion direction barrier-free switching.