Abstract: Due to the complicated structure of power towers, researches rarely focus on climbing robot for tower inspection. Based on the T-shaped fall-prevention rail of tower, an inspection robot is developed with tower climbing function realized through permanent-magnetic adhesion, which has solved the adhesion and climbing problems for inspection. The robot is operated by inspector through remote-control system. The image and video information is obtained via pan/tilt camera on the robot and can be transmitted to handheld display-terminal through image transmission system. The robot inspection of tower and fall-prevention rail is thus achieved and any defects of towers can be discovered effectively. The developed robot is convenient for inspectors to keep well informed about tower defects and remove them timely.