The invention discloses a high-altitude flame-projecting barrier-removing robot, including a multi-shaft aircraft two-stage telescoping mechanism and a flame projecting system. The flame projecting system includes a pressurization fuel oil storage tank, a nozzle and a high-pressure igniter, after being atomized through the nozzle, pressurized fuel oil in the pressurization fuel oil storage tank can be ignited by the high-pressure igniter, the two-stage telescoping mechanism includes a first-stage sliding block, a first-stage guide rail, a second-stage sliding block, a second-stage guide rail, an extension rod and a driving device, the first-stage sliding block is slidably arranged on the first-stage guide rail and is fixedly arranged on a main rack of the flame projecting system, and the second-stage sliding block is slidably arranged on the second-stage guide rail; while driving the second-stage sliding block to slide relative to the second-stage guide rail, the driving device drives the first-stage guide rail to slide relative to the first-stage sliding block in the same direction synchronously; and the extension rod is fixedly connected to the second-stage sliding block, and the nozzle and the high-pressure igniter are mounted on the extension rod. The high-altitude flame-projecting barrier-removing robot provided by the invention adopts a remote control flight flame-projecting scheme, and a power supply does not need to be cut off in the barrier removing process, thereby simplifying a barrier removing operation process, lightening the burden of operating personnel, improving the barrier removing efficiency, and ensuring the safety of workers.