The invention provides a lead obstacle-crossing robot walking device, which adopts a dual-arm and three-joint wheeled structure; the two arms alternately hold the line to avoid the obstacle when crossing the obstacle, the device adopts wheels to ensure the running speed during the walking process and comprises a front walking wheel 1, a rear walking wheel 2, a front compacting wheel 3, a rear compacting wheel 4, a front walking wheel arm 5, a rear walking wheel arm 6, a front compacting wheel arm 7, a rear compacting wheel arm 8, four front motors 9, four rear motors 10, a front joint arm 11,a rear joint arm 12 and a body 13. The robot walking device can cross typical lead obstacles such as an anti-vibration hammer, a compression pipe, a spacing rod, a suspension clamp and the like, and can be used as high-voltage transmission line inspection robot walking device or lead deicing robot walking device. The platform has the advantages of simple mechanism, simple control type, low controlprecision requirement, fast walking and obstacle-crossing speed and the like.