The invention discloses an automatic bird nest cleaning manipulator aiming at an angle-steel tower, which relates to a bird nest cleaning technology for a power supply system and is used for cleaning a bird nest at a position in which a worker in the angle-steel tower cannot reach directly. The technical scheme is that the automatic bird nest cleaning manipulator aiming at the angle-steel tower is characterized by comprising a lifting arm, a connection frame, a first guide shaft, a second guide shaft and a plurality of clamping joints, wherein the rear end of the front clamping joint is hinged to the front end of the rear clamping joint through a hinge shaft; the hinge shaft is fixedly connected to the rear end of the front clamping joint; the hinge shaft is connected to the front end of the rear clamping joint in a rotatable manner; all the clamping joints form an open-loop structure; a clamping joint motor is arranged between any two of hinged clamping joints; the connection frame comprises a sliding rail; the sliding rail is arc-shaped; and the second guide shaft is fixed in a guide rail. The automatic bird nest cleaning manipulator has the beneficial effect that the bird nest can be taken out from a region with a relatively small space surrounded by a truss extending to the angle-steel tower.