Electrically-driven rigid-flexible coupling water snake robot

The electrically-driven rigid-flexible coupling water snake robot comprises a snake body framework, an electrically-driven mechanism, bionic snakeskin and a control mechanism, the snake body framework comprises a snake head, a snake body trunk and a snake tail which are connected in sequence, and the snake body trunk comprises a plurality of trunk sections which are connected in sequence; any trunk section comprises a flexible supporting outer sleeve, a rigidity-variable spine and a plurality of sets of elastic telescopic pieces. A rigid-flexible coupling structure is adopted, the rigid part is mainly embodied in an electric driving mechanism, the flexible part is mainly embodied in a variable-rigidity spine, the soft part is mainly embodied in a flexible supporting outer sleeve and a bionic snakeskin adopted by a snake body trunk, and the water snake robot is simple in overall structure, small in size and high in flexibility. The underwater snake robot has the advantages of being light in weight, high in movement speed, high in flexibility and maneuverability, capable of meeting the requirement for underwater extreme environment operation and the like, and therefore the problem that an existing water snake robot cannot meet the underwater complex operation environment due to the fact that the existing water snake robot is poor in flexibility, maneuverability and environment adaptability is solved.