The invention discloses a transformer substation equipment electrified water-flushing robot system and method based on double-machine cooperative control. The transformer substation equipment electrified water-flushing robot system comprises an automatic flushing robot with a real-time communication function and an auxiliary flushing device, the automatic flushing robot and the auxiliary flushingdevice each comprise flushing water guns, the flushing water guns are connected with a vertical lifting mechanism and a horizontal moving mechanism, and through cooperative control over the pitching and rotating angles of the two flushing water guns, the automatic flushing robot and the auxiliary flushing device are kept to conduct synchronous cleaning on the two sides of insulators. According tothe transformer substation equipment electrified water-flushing robot system and method based on double-machine cooperative control, through cooperation of the movably-type robot and the auxiliary flushing device, the movable-type robot and the auxiliary flushing device clean the same insulators on the different side faces at the same time, rapid cleaning and the cleaning effect are ensured, and safe operation of power grid equipment is facilitated.