The invention discloses an 
underwater robot of a bionic and gliding 
hybrid propulsion mode. The 
underwater robot comprises a head part, a sinking and floating adjustment mechanism, a center of gravityadjustment mechanism, a circuit compartment, a gliding wing and a 
tail part. The head part is composed of an image collection compartment. The sinking and floating adjustment mechanism includes an inner oil sac, a 
reversing valve, a 
hydraulic pump, a 
relief valve and an outer oil sac. The center of gravity adjustment mechanism includes a stepping motor driver, a stepping motor, a steering 
gear drive, a left and right center of gravity steering gear, a screw rod, a guide rail and a heavy block. The circuit compartment consists of a 
control system, including a moving layer, a sensing layer, a 
control layer, a 
communication layer and a monitoring layer. The gliding wing is made of 
epoxy carbon 
fiber material, with the advantages of high strength, light weight and so on. The 
tail part includes a four-joint bionic fishtail steering gear and a fishtail skeleton. The 
underwater robot of the bionic and gliding 
hybrid propulsion mode in the invention has the characteristics of 
large range, lownoise, low 
energy consumption, high concealment, small 
turning radius and so forth, and can improve the accuracy of measurement data and improve the working efficiency of measurement.