The invention discloses a reciprocating telescopic glass wiping robot used for cleaning the surface of glass. The robot comprises robot bodies, a left sucking unit, a right sucking unit, a control unit and a communication unit, cleaning devices are arranged on the lower portion of the left sucking unit and the lower portion of the right sucking unit, the robot bodies comprise the left robot body and the right robot body which are connected together with the distance adjustable, and a reciprocating mechanism is arranged between the left robot body and the right robot body. The left sucking unit is arranged on the left robot body, a component, used for sucking to glass, of the left sucking unit is rotational relative to the left robot body, a rotating power mechanism is connected between the left robot body and the component, used for sucking to glass, of the left sucking unit, and the right sucking unit is arranged on the right robot body. The communication unit and the control unit are connected through signals, and the control unit is connected with the left sucking unit, the right sucking unit, the reciprocating mechanism and the rotating power mechanism through signals. The reciprocating telescopic glass wiping robot has the advantage of being better in glass cleaning effect.