Aiming at the low efficiency of high-voltage operation in distribution network, the robot mechanism configuration and coordinated control method applied in the operation process are studied. The robot includes power supply system, obstacle crossing mechanism, self rescue sensor system and self-locking wheel climbing mechanism. The fuzzy PID controller is used to realize the coordinated control of live working robot. The fuzzy PID controller takes the error and error change rate as the output, and uses the fuzzy control rules to adjust the PID parameters in real time, Through the self-tuning of control parameters at different operation times to improve the control effect, the mechanism configuration and coordinated control method of live working robot in distribution network are completed. The experimental results show that the output signal is stable to a fixed range within 100ms, and the robot successfully completes high-voltage operations such as insulator string replacement, with small overshoot and fast response speed.