The invention relates to a reciprocating-type high-altitude glass cleaning robot. The reciprocating-type high-altitude glass cleaning robot comprises a control cabinet, a gas pump, a water pump, a hanging and lifting device and a reciprocating type cleaning mechanism. The control cabinet is arranged on the hanging and lifting device. The control cabinet is connected with a control wire. The reciprocating-type cleaning mechanism is hung below the hanging and lifting device. The reciprocating-type high-altitude glass cleaning robot has the advantages that the structural design is reasonable, the automation degree is high, and operation and controlling are convenient. Manpower is replaced, high-altitude glass can be cleaned, the damage on workers is avoided, and the safety is improved. An automatic device of the reciprocating motion is utilized, the cleaning efficiency is improved, and the cleaning quality is guaranteed. Meanwhile, a negative-pressure loop pipe, a gas supplying pipe, a water pipe and the control wire can carry out rising and falling motions along the reciprocating-type cleaning mechanism in a synchronous mode so that the synchronous supplying of water, gas and control signals can be guaranteed.