The invention belongs to the field of specialized robots and particularly relates to a walking type pipeline robot used for pipeline detection overhaul. The walking type pipeline robot comprises two groups of symmetrically arranged assemblies with same structures, wherein the two assemblies are connected through a steering mechanism; each group of assembly comprises three scissor mechanisms with same structures, one ends of the three scissor mechanisms are respectively connected to a second support frame, are in meshing transmission with a gear on a motor output shaft through a gear and realizes expand and contraction of the scissor mechanisms, wherein the other ends of the two scissor mechanisms used as supporting arms are respectively provided with support cushions, the other end of the third scissor mechanism is connected with the steering mechanism, and the front end of the pipeline robot is provided with a camera. Through controlling expanding, contracting and steering of each scissor mechanism, the walking type pipeline robot has a strong adaptability to multiple pipeline environments, is suitable for being applied to a pipeline environment where the pipeline diameter is changed, has wide application range and obstacle crossing capability, and can overcome different forms of obstacles in a pipeline.