The invention discloses a glass wiping robot with a lifting type walking mechanism. The glass wiping robot comprises a driving part, a driven part and a safety power dual-purpose wire. The driving part comprises a driving part bottom plate, a driving part shell connected to the top of driving part bottom plate, a first driving wheel set, a second driving wheel set, a driving part lifting unit, a driving part sensing unit, a driving part controller and a driving part energy source, and driving part cleaning cloth and a driving part magnet are connected to the bottom surface of the driving part bottom plate. The driven part comprises a driven part bottom plate, a driven part shell connected to the top of the driven part bottom plate, a first driven wheel set, a second driven wheel set, a driven part lifting unit, a driven part sensing unit, a driven part controller, a driven part energy source and a magnetic force adjusting device, and driven part cleaning cloth is connected to the bottom surface of the driven part bottom plate. The invention further discloses a glass wiping method of the glass wiping robot with the lifting type walking mechanism. The glass wiping robot is novel and reasonable in design, high in glass wiping efficiency and safe and convenient to use.