The utility model relates to a line taking-up device of a manipulator used for removing foreign matter of an electric transmission line in live line. The line taking-up device comprises an upper housing and a lower housing, and the upper housing is connected with the lower housing in a rotatable manner, two sidewalls of the upper housing are respectively provided with a notch used for being hung on the electric transmission line, the upper housing is connected with a first gear, the lower housing is connected with a second gear, the first gear is engaged with the second gear, and the first gear or the second gear is in transmission connection with a first motor. The upper housing is provided with a line laying mechanism, and the line laying mechanism comprises a line laying disc arranged outside the upper housing and a third motor used for driving the line laying disc to rotate. The line taking-up device of the manipulator used for removing foreign matter of the electric transmission line in live line can be dismounted from the electric transmission line conveniently, and the whole process is high in automation degree, and is time-saving and labor-saving.