The invention provides a turning variable-diameter pipe robot which comprises variable-diameter driving components, a pulling piece and a first turning part. The variable-diameter driving components are arranged at the two ends of the pulling piece, and the first turning part is arranged on one of the two variable-diameter driving components and is located at the end, far away from the pulling piece, of the corresponding variable-diameter driving component; and each variable-diameter driving component is provided with at least two walking mechanisms which are circumferentially and evenly arranged with the variable-diameter driving component part as the center, the walking mechanisms can get close to or be far away from a pipe inner wall, can be in contact with the pipe inner wall and can walk in a pipe, and a first walking device is arranged at the end, far away from the corresponding variable-diameter driving component, of the first turning part; and when at a turning position of thepipe, the first walking device abuts against the pipe inner wall in front of the first walking device, and the first turning part drives the first walking device to deflect in the turning direction towalk on the pipe inner wall. The turning variable-diameter pipe robot can be suitable for curve walking in the pipe with complex environments, the structure is simple, the pipe detection work amountis reduced, and cost is reduced.