The utility model relates to the field of cleaning equipment, and discloses an
obstacle crossing mechanism, a driving device and a cleaning
robot. The
obstacle crossing mechanism comprises a base, a rotating piece and a driving
assembly, the base is used for being connected with walking equipment, the driving
assembly can drive the rotating piece to rotate in the first direction and the second direction, and
obstacle crossing supporting legs are arranged on the rotating piece; when rotating in the first direction, the rotating part can drive the obstacle crossing supporting legs to rotate so as to support the walking equipment and walk through the obstacle crossing supporting legs, and when rotating in the second direction, the rotating part can jack up a
chassis of the walking equipment. The driving device comprises a walking frame and the obstacle crossing device. The cleaning
robot comprises the driving device. Based on the obstacle crossing mechanism provided by the utility model, the obstacle crossing mechanism can be arranged on the cleaning
robot, so that the cleaning robot can be driven by the obstacle crossing mechanism to cross obstacles or
walk in special scenes such as a long
wool carpet, and the application range of the cleaning robot is widened.