In order to realize the automatic cleaning operation of UHV vertical insulators and reduce manual labor to the maximum extent, so as to improve operation efficiency and reliability, this paper proposes a cleaning operation system which is equipped with mechanical arm, double manipulator and its end tools on the vehicle-mounted platform, in which the end is equipped with cleaning brush and reaches the operation point by moving on the ground of the vehicle-mounted platform. Then the robot arm sends the end tool to the cleaning position through multi-joint motion, and the nozzle on the brush sprays water mist on the insulator disk surface, then the brush realizes the no-blind cleaning of the insulator disk surface. Based on the above analysis of the cleaning task, the basic structure and virtual prototype model of the robot are designed, and the corresponding physical prototype system is developed. The field operation experiment was carried out in the substation under the jurisdiction of Hunan Electric Power Company. The experimental results show that the robot can realize the no-blind cleaning operation of pillar insulators and the cleaning effect is sound, which verifies the feasibility and effectiveness of the robot structure. The research of this paper has important theoretical significance and practical application value for improving the automation level of operation and maintenance management for substation system.