The invention relates to a wiping device for a cleaning robot of a building anti-theft window. The wiping device comprises a wiping guide rail, a wiping slide block, a wiping push rod, a wiping support, a limiting disc, a wiping rotary shaft, a wiping bearing, an adjusting driving plate, a fixed inserting rod, wiping hanging seats and a wiping executer, wherein the wiping slide block is mounted on the wiping slide rail; the limiting disc is located on the front end face of the wiping support; limiting holes are uniformly formed in the front end face of the limiting disc along the peripheral direction; the wiping rotary shaft is mounted at the lower end of the limiting disc through the wiping bearing; the adjusting driving plate and the limiting disc are connected and limited by adopting the fixed inserting rod; the wiping hanging seats are linearly and uniformly distributed on the wiping rotary shaft; and the wiping executer is located just under the wiping hanging seats. With the adoption of the wiping device, the movement in three degree-of-freedom directions including two translation directions and one rotary direction and partial reciprocating motion can be wholly realized and the wiping device can be used for wiping the anti-theft window which is washed with water and swept and sucking away sewage.