Reducing snakelike underwater robot

Abstract

The utility model provides a variable diameter snakelike underwater robot, including variable diameter snakelike body mechanism, snakelike head mechanism and snakelike tail mechanism, variable diameter snakelike body mechanism includes a plurality of variable diameter snakelike body units, a plurality of variable diameter snakelike body units are connected in series, variable diameter snakelike body units include variable diameter support assembly and a plurality of propulsion assembly, the variable-diameter supporting assembly comprises a main supporting column and a plurality of branch supporting columns, the branch supporting columns are evenly distributed in the circumferential direction of the main supporting column and surround the main supporting column, the branch supporting columns can move in the radial direction of the main supporting column, and the propelling assemblies are fixedly installed on the branch supporting columns in a one-to-one correspondence mode. The snake head mechanism is rotatably mounted at the head end of the variable-diameter snake body mechanism, and the snake tail mechanism is rotatably mounted at the tail end of the variable-diameter snake body mechanism. The utility model has both stability and flexibility, not only can reduce the influence of water flow, but also can pass through a narrow gap.

Description

Technical Field

[0001] The utility model relates to the technical field of underwater robots, and in particular to a variable-diameter snake-shaped underwater robot. Background Art

[0002] The snake-like underwater robot is a combination of an underwater robot and a snake-like robot. Compared with underwater robots, snake-like underwater robots can achieve underwater multi-posture adjustment, and thus can better adapt to complex underwater environments. They have broader application prospects and can perform tasks such as underwater search and rescue, military reconnaissance, marine mineral surveys, oil pipeline inspections, underwater structural maintenance of drilling platforms, and river reservoir dam inspections.

[0003] The radial dimensions of existing snake-like underwater robots are usually fixed, which has obvious limitations in practical applications. For example, in underwater pipeline inspection tasks, if the radial dimension is too large, the robot cannot enter the narrow pipeline, resulting in failure to complete the inspection task; and in the detection of complex underwater terrain, if the radial dimension is too small, the robot is prone to lose stability in an environment with slightly strong water flow, or even be washed away by the water flow, seriously affecting the execution effect of the task.

[0004] Therefore, the problem of fixed radial dimensions of snake-like underwater robots in the prior art needs to be solved urgently. Utility Model Content

[0005] In response to the above-mentioned technical problems, a variable diameter snake-shaped underwater robot is provided.

[0006] The technical means adopted by the utility model are as follows:

[0007] A variable diameter serpentine underwater robot comprises a variable diameter snake body mechanism, a snake head mechanism and a snake tail mechanism; the variable diameter snake body mechanism comprises a plurality of variable diameter snake body units, the plurality of variable diameter snake body units are connected in series, the variable diameter snake body units comprise a variable diameter support assembly and a plurality of propulsion assemblies, the variable diameter support assembly comprises a main support column and a plurality of sub-support columns, the plurality of sub-support columns are evenly distributed along the circumferential direction of the main support column and surround the outside of the main support column, the sub-support columns can move along the radial direction of the main support column, the plurality of propulsion assemblies are fixedly mounted on the plurality of sub-support columns in a one-to-one correspondence; the snake head mechanism is rotatably mounted on the head end of the variable diameter snake body mechanism; the snake tail mechanism is rotatably mounted on the tail end of the variable diameter snake body mechanism.

[0008] Furthermore, the variable diameter support assembly also includes a guide sub-assembly; the guide sub-assembly includes a guide plate, a plurality of slide grooves and a plurality of sliders, the plurality of slide grooves are evenly distributed along the circumferential direction of the guide plate and are opened on the guide plate, the length direction of the slide grooves is consistent with the radial direction of the guide plate, the plurality of sliders are slidably installed in the plurality of slide grooves one by one, and the sliders can move along the length direction of the slide grooves; the guide plate is coaxially fixedly installed on the main support column, and the plurality of sliders are fixedly installed on the plurality of sub-support columns one by one.

[0009] Furthermore, the variable diameter support assembly also includes a driving sub-assembly; the driving sub-assembly includes a rotating ring, a driving motor, a first gear, a second gear and a plurality of connecting rods, the housing of the driving motor is fixedly mounted on the rotating ring, the first gear is coaxially fixedly mounted on the output shaft of the driving motor, the second gear is meshed with the first gear, the two ends of the connecting rod are respectively a first connecting end and a second connecting end, the first connecting ends of the plurality of connecting rods are evenly distributed along the circumferential direction of the rotating ring and are rotatably mounted on the rotating ring; the rotating ring is coaxially sleeved outside the main support column and can rotate around its axis relative to the main support column, the second gear is coaxially fixedly mounted on the main support column, and the second connecting ends of the plurality of connecting rods are one-to-one correspondingly and rotatably mounted on a plurality of sub-support columns.

[0010] Furthermore, the variable diameter snake body mechanism also includes a plurality of articulated units; the articulated unit includes a first articulated component and a second articulated component, and the first articulated component and the second articulated component are articulated to each other; any two adjacent variable diameter snake body units are connected together through the articulated unit, and the first articulated component and the second articulated component are respectively fixedly mounted on two adjacent variable diameter snake body units.

[0011] Furthermore, the snake head mechanism is rotatably mounted on the head end of the variable diameter snake body mechanism through a first rotating unit, and the snake tail mechanism is rotatably mounted on the tail end of the variable diameter snake body mechanism through a second rotating unit; the first rotating unit includes a first rotating motor, a first rotating member and a second rotating member, the first rotating member is fixedly mounted on the housing of the first rotating motor, and the second rotating member is fixedly mounted on the output shaft of the first rotating motor; the second rotating unit includes a second rotating motor, a third rotating member and a fourth rotating member, the third rotating member is fixedly mounted on the housing of the second rotating motor, and the fourth rotating member is fixedly mounted on the output shaft of the second rotating motor; the first rotating member is fixedly mounted on the snake head mechanism, the second rotating member is fixedly mounted on the head end of the variable diameter snake body mechanism, the third rotating member is fixedly mounted on the snake tail mechanism, and the fourth rotating member is fixedly mounted on the tail end of the variable diameter snake body mechanism.

[0012] Furthermore, the variable diameter snake body unit also includes a tactile component; the tactile component includes a plurality of tactile sensors; the plurality of tactile sensors are fixedly mounted one by one on a side of the plurality of propulsion components away from the main support column.

[0013] Furthermore, the snake head mechanism includes a snake head body, a lighting component, a scanning component, a camera component and a recording component; the lighting component, the scanning component, the camera component and the recording component are all fixedly mounted on the front end of the snake head body.

[0014] Furthermore, the tail mechanism includes a tail body and a plurality of tail wings; the plurality of tail wings are evenly distributed along the circumferential direction of the tail body and fixedly mounted on the tail body.

[0015] Compared with the prior art, the utility model has the following advantages:

[0016] 1. In the present invention, when all the sub-support columns in the variable-diameter serpentine unit move toward the direction away from the main support column, the radial dimension of the variable-diameter serpentine unit increases. When the radial dimensions of all the variable-diameter serpentine units in the variable-diameter serpentine mechanism increase, the radial dimension of the variable-diameter serpentine mechanism increases, and the stability of the variable-diameter serpentine underwater robot provided by the present invention is improved, reducing the influence of the water flow on it; in addition, when all the sub-support columns in the variable-diameter serpentine unit move toward the direction close to the main support column, the radial dimension of the variable-diameter serpentine unit decreases. When the radial dimensions of all the variable-diameter serpentine units in the variable-diameter serpentine mechanism decreases, the radial dimension of the variable-diameter serpentine mechanism decreases, and the flexibility of the variable-diameter serpentine underwater robot provided by the present invention is improved, so that it can pass through narrow gaps.

[0017] 2. In the utility model, the slider on the sub-support column is slidably installed in the corresponding slide groove on the guide plate and can move along its length direction. Since the length direction of the slide groove is consistent with the radial direction of the guide plate, when the sub-support column moves along the length direction of the slide groove, it moves along the radial direction of the guide plate. Since the guide plate is coaxially fixed on the main support column, when the sub-support column moves along the radial direction of the guide plate, it moves along the radial direction of the main support column. The guide sub-assembly in the utility model plays a role in guiding the sub-support column; in addition, the guide sub-assembly in the utility model also plays a role in limiting the moving distance of the sub-support column.

[0018] 3. In the utility model, the first gear can rotate around its axis driven by the output shaft of the driving motor. The rotating ring on the housing of the driving motor is coaxially sleeved outside the main support column and can rotate around its axis relative to the main support column. Since the first gear is meshed with the second gear on the main support column, when the first gear rotates around its axis driven by the output shaft of the driving motor, the axis of the main support column rotates relative to the main support column. The first connecting end of the connecting rod rotates around the axis of the main support column relative to the main support column driven by the rotating ring. The second connecting end of the connecting rod drives the corresponding sub-support column to move along the radial direction of the main support column. The driving sub-assembly in the utility model provides power for the movement of the sub-support column.

[0019] 4. In the present invention, any two adjacent variable diameter snake body units are connected together by a first hinged member and a second hinged member that are hinged to each other. The plurality of hinged units in the present invention enable the variable diameter snake body mechanism to bend.

[0020] 5. In the present invention, since the first rotating member is fixedly mounted on the snake head mechanism and the second rotating member is fixedly mounted on the head end of the variable diameter snake body mechanism, when the second rotating member rotates around its axis relative to the first rotating member under the drive of the output shaft of the first rotating motor, the snake head mechanism rotates relative to the head end of the variable diameter snake body mechanism; since the third rotating member is fixedly mounted on the snake tail mechanism and the fourth rotating member is fixedly mounted on the tail end of the variable diameter snake body mechanism, when the fourth rotating member rotates around its axis relative to the third rotating member under the drive of the output shaft of the second rotating motor, the snake tail mechanism rotates relative to the tail end of the variable diameter snake body mechanism; the first rotating unit and the second rotating unit in the present invention can respectively control the snake head mechanism and the snake tail mechanism to rotate relative to the variable diameter snake body mechanism.

[0021] 6. In the present invention, by fixing a tactile sensor on a side of the propulsion assembly away from the main support column, the present invention provides a variable diameter snake-like underwater robot capable of sensing information such as the shape, texture, and hardness of objects in the external environment.

[0022] 7. In the present invention, by fixing a lighting component, a scanning component, a camera component and a recording component on the front end of the snake head body, the present invention provides a variable-diameter snake-shaped underwater robot that can illuminate, scan, photograph and record the external environment, and can combine visual and sonar data to supplement the data fusion solution of multi-modal sensors or adopt a priority strategy to process information from different sensors.

[0023] 8. In the present invention, by fixing a plurality of tail wings on the serpentine body, the stability of the variable diameter serpentine underwater robot provided by the present invention is further improved. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the utility model. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0025] Figure 1 This is an overall structural diagram of a variable diameter snake-shaped underwater robot in Example 1 of the utility model;

[0026] Figure 2 This is the overall structural diagram of the variable diameter support assembly in Example 1 of the utility model;

[0027] Figure 3 This is an overall structural diagram of the main support column, guide plate, slide groove and second gear in Example 1 of the utility model;

[0028] Figure 4 This is an overall structural diagram of the rotating ring, the driving motor, the first gear and the sleeve in Example 1 of the utility model;

[0029] Figure 5 This is an overall structural diagram of the propulsion assembly and the tactile sensor in Example 1 of the utility model;

[0030] Figure 6 This is the overall structural diagram of the variable diameter snake body unit in Example 1 of the utility model when its radial dimension is the smallest;

[0031] Figure 7 This is the overall structural diagram of the variable diameter snake body unit in Example 1 of the utility model when its radial dimension is the largest;

[0032] Figure 8 This is the overall structural diagram of the snake head mechanism in Example 1 of the utility model;

[0033] In the figure: 1-snake head mechanism; 2-variable snake body unit; 3-snake tail mechanism; 4-second rotating unit; 5-articulated unit; 6-first rotating unit; 101-illumination assembly; 102-scanning assembly; 103-camera assembly; 104-recording assembly; 105-snake head body; 201-sub-support column; 202-connecting rod; 203-guide plate; 204-slide groove; 205-slider; 206-first gear; 207-driving motor Machine; 208-rotating ring; 209-sleeve; 210-main support column; 211-second gear; 212-tactile sensor; 213-propulsion assembly; 301-snake tail body; 302-tail; 401-fourth rotating member; 402-second rotating motor; 403-third rotating member; 501-first hinge; 502-second hinge; 601-first rotating member; 602-first rotating motor; 603-second rotating member. DETAILED DESCRIPTION

[0034] It should be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0035] In order to make the purpose, technical scheme and advantages of the embodiments of the utility model clearer, the technical scheme in the embodiments of the utility model will be clearly and completely described below in conjunction with the drawings in the embodiments of the utility model. Obviously, the described embodiments are only part of the embodiments of the utility model, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means a limitation on the utility model and its application or use. Based on the embodiments in the utility model, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the utility model.

[0036] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the utility model. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprise" and / or "include" are used in this specification, it indicates the presence of features, steps, operations, devices, components and / or combinations thereof.

[0037] Unless otherwise specifically stated, the relative arrangement of the parts and steps described in these embodiments, the numerical expressions and numerical values ​​do not limit the scope of the utility model. At the same time, it should be clear that, for ease of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship. The technology, methods and equipment known to ordinary technicians in the relevant field may not be discussed in detail, but in appropriate cases, the technology, methods and equipment should be regarded as part of the authorization specification. In all examples shown and discussed here, any specific value should be interpreted as merely exemplary, rather than as a limitation. Therefore, other examples of exemplary embodiments may have different values. It should be noted that similar numbers and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further discussed in subsequent drawings.

[0038] In the description of the present utility model, it needs to be understood that the directions or positional relationships indicated by directional words such as "front, back, up, down, left, right", "lateral, vertical, perpendicular, horizontal" and "top, bottom" are usually based on the directions or positional relationships shown in the drawings. They are only for the convenience of describing the present utility model and simplifying the description. Unless otherwise stated, these directional words do not indicate or imply that the device or element referred to must have a specific direction or be constructed and operated in a specific direction. Therefore, they cannot be understood as limiting the scope of protection of the present utility model: the directional words "inside and outside" refer to the inside and outside relative to the contours of each component itself.

[0039] For ease of description, spatially relative terms such as "above", "above", "on the upper surface of", "above", etc. may be used here to describe the spatial positional relationship between a device or feature and other devices or features as shown in the figure. It should be understood that spatially relative terms are intended to include different orientations of the device in use or operation in addition to the orientation described in the figure. For example, if the device in the accompanying drawings is inverted, the device described as "above other devices or structures" or "above other devices or structures" will be positioned as "below other devices or structures" or "below their position devices or structures". Thus, the exemplary term "above" may include both "above" and "below". The device may also be positioned in other different ways (rotated 90 degrees or in other orientations), and the spatially relative descriptions used here are interpreted accordingly.

[0040] In addition, it should be noted that the use of terms such as "first" and "second" to limit components is only for the convenience of distinguishing the corresponding components. If not otherwise stated, the above terms have no special meaning and therefore cannot be understood as limiting the scope of protection of the utility model.

[0041] Embodiment 1:

[0042] like Figures 1 to 8 As shown, a variable diameter serpentine underwater robot includes a variable diameter snake body mechanism, a snake head mechanism 1 and a snake tail mechanism 3; the variable diameter snake body mechanism includes a plurality of variable diameter snake body units 2, the plurality of variable diameter snake body units 2 are connected in series, the variable diameter snake body unit 2 includes a variable diameter support assembly and a plurality of propulsion assemblies 213, the variable diameter support assembly includes a main support column 210 and a plurality of sub-support columns 201, the plurality of sub-support columns 201 are evenly distributed along the circumferential direction of the main support column 210 and surround the outside of the main support column 210, the sub-support columns 201 can move along the radial direction of the main support column 210, the plurality of propulsion assemblies 213 are fixedly mounted on the plurality of sub-support columns 201 in a one-to-one correspondence; the snake head mechanism 1 is rotatably mounted on the head end of the variable diameter snake body mechanism; the snake tail mechanism 3 is rotatably mounted on the tail end of the variable diameter snake body mechanism.

[0043] Specifically, there are eight variable-diameter snake body units 2, namely the first snake body unit, the second snake body unit, the third snake body unit, the fourth snake body unit, the fifth snake body unit, the sixth snake body unit, the seventh snake body unit and the eighth snake body unit. The first snake body unit is the head end of the variable-diameter snake body mechanism, and the eighth snake body unit is the tail end of the variable-diameter snake body mechanism; the variable-diameter snake body unit 2 includes eight propulsion assemblies 213, and the variable-diameter support assembly includes sixteen sub-support columns 201; the propulsion assembly 213 includes a propulsion motor and a propeller, the casing of the propulsion motor is fixedly mounted on the sub-support column 201, and the propeller is fixedly mounted on the output shaft of the propulsion motor.

[0044] In this embodiment, the variable diameter support assembly also includes a guide sub-assembly; the guide sub-assembly includes a guide plate 203, a plurality of slide grooves 204 and a plurality of sliders 205, the plurality of slide grooves 204 are evenly distributed along the circumferential direction of the guide plate 203 and are opened on the guide plate 203, the length direction of the slide grooves 204 is consistent with the radial direction of the guide plate 203, the plurality of sliders 205 are slidably installed in the plurality of slide grooves 204 one by one, and the sliders 205 can move along the length direction of the slide grooves 204; the guide plate 203 is coaxially fixedly installed on the main support column 210, and the plurality of sliders 205 are fixedly installed on the plurality of sub-support columns 201 one by one.

[0045] Specifically, the guide subassembly includes eight slide grooves 204 and eight sliders 205, and the guide plate 203 is a disc-shaped structure.

[0046] In addition, two guide subassemblies are provided, which are respectively located at the two ends of the main support column 210 .

[0047] In this embodiment, the variable diameter support assembly also includes a driving sub-assembly; the driving sub-assembly includes a rotating ring 208, a driving motor 207, a first gear 206, a second gear 211 and a plurality of connecting rods 202, the housing of the driving motor 207 is fixedly mounted on the rotating ring 208, the first gear 206 is coaxially fixedly mounted on the output shaft of the driving motor 207, the second gear 211 is meshed with the first gear 206, the two ends of the connecting rod 202 are respectively a first connecting end and a second connecting end, the first connecting ends of the plurality of connecting rods 202 are evenly distributed along the circumferential direction of the rotating ring 208 and are rotatably mounted on the rotating ring 208; the rotating ring 208 is coaxially sleeved outside the main support column 210 and can rotate around its axis relative to the main support column 210, the second gear 211 is coaxially fixedly mounted on the main support column 210, and the second connecting ends of the plurality of connecting rods 202 are one-to-one correspondingly and rotatably mounted on the plurality of sub-support columns 201.

[0048] Specifically, the driving sub-assembly includes two rotating rings 208 and sixteen connecting rods 202, and the rotating ring 208 is a circular ring structure; the driving sub-assembly also includes a sleeve 209 and a radial bearing, and the sleeve 209 is coaxially sleeved outside the main support column 210, and the outer side surface of the radial bearing is in contact with the inner side surface of the sleeve 209, and the inner side surface of the radial bearing is in contact with the outer side surface of the main support column 210. The two rotating rings 208 are coaxially fixedly installed on the two ends of the sleeve 209, respectively, and the casing of the driving motor 207 is fixedly installed on the sleeve 209, and the axial direction of the output shaft of the driving motor 207 is consistent with the axial direction of the sleeve 209.

[0049] In this embodiment, the variable diameter snake body mechanism also includes a plurality of articulated units 5; the articulated unit 5 includes a first articulated component 501 and a second articulated component 502, and the first articulated component 501 and the second articulated component 502 are articulated to each other; any two adjacent variable diameter snake body units 2 are connected together by the articulated unit 5, and the first articulated component 501 and the second articulated component 502 are respectively fixedly mounted on the two adjacent variable diameter snake body units 2.

[0050] Specifically, seven articulation units 5 are provided.

[0051] In this embodiment, the snake head mechanism 1 is rotatably mounted on the head end of the variable diameter snake body mechanism through the first rotating unit 6, and the snake tail mechanism 3 is rotatably mounted on the tail end of the variable diameter snake body mechanism through the second rotating unit 4; the first rotating unit 6 includes a first rotating motor 602, a first rotating member 601 and a second rotating member 603, the first rotating member 601 is fixedly mounted on the housing of the first rotating motor 602, and the second rotating member 603 is fixedly mounted on the output shaft of the first rotating motor 602; the second rotating unit 4 includes A second rotating motor 402, a third rotating member 403 and a fourth rotating member 401, wherein the third rotating member 403 is fixedly mounted on the housing of the second rotating motor 402, and the fourth rotating member 401 is fixedly mounted on the output shaft of the second rotating motor 402; the first rotating member 601 is fixedly mounted on the snake head mechanism 1, the second rotating member 603 is fixedly mounted on the head end of the variable diameter snake body mechanism, the third rotating member 403 is fixedly mounted on the snake tail mechanism 3, and the fourth rotating member 401 is fixedly mounted on the tail end of the variable diameter snake body mechanism.

[0052] In this embodiment, the variable diameter snake body unit 2 further includes a tactile component; the tactile component includes a plurality of tactile sensors 212; the plurality of tactile sensors 212 are fixedly mounted one by one on a plurality of propulsion components 213 on a side away from the main support column 210.

[0053] Specifically, the tactile component includes eight tactile sensors 212 .

[0054] In this embodiment, the snake head mechanism 1 includes a snake head body 105, a lighting component 101, a scanning component 102, a camera component 103 and a recording component 104; the lighting component 101, the scanning component 102, the camera component 103 and the recording component 104 are all fixedly mounted on the front end of the snake head body 105.

[0055] In this embodiment, the tail mechanism 3 includes a tail body 301 and a plurality of tail wings 302 ; the plurality of tail wings 302 are evenly distributed along the circumferential direction of the tail body 301 and fixedly mounted on the tail body 301 .

[0056] Specifically, the tail mechanism 3 includes three tail wings 302 .

[0057] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the utility model, rather than to limit it. Although the utility model has been described in detail with reference to the aforementioned embodiments, ordinary technicians in this field should understand that they can still modify the technical solutions recorded in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not make the essence of the corresponding technical solution deviate from the scope of the technical solution of the embodiments of the utility model.

Claims

1. A variable diameter snake-shaped underwater robot, characterized in that: It comprises a variable diameter snake body mechanism, a snake head mechanism (1) and a snake tail mechanism (3); The variable diameter snake body mechanism comprises a plurality of variable diameter snake body units (2), the plurality of variable diameter snake body units (2) are connected in series, the variable diameter snake body units (2) comprise a variable diameter support assembly and a plurality of propulsion assemblies (213), the variable diameter support assembly comprises a main support column (210) and a plurality of sub-support columns (201), the plurality of sub-support columns (201) are evenly distributed along the circumferential direction of the main support column (210) and surround the main support column (210), the sub-support columns (201) can move along the radial direction of the main support column (210), and the plurality of propulsion assemblies (213) are fixedly mounted on the plurality of sub-support columns (201) in a one-to-one correspondence; The snake head mechanism (1) is rotatably mounted on the head end of the variable diameter snake body mechanism; The snake tail mechanism (3) is rotatably mounted on the tail end of the variable diameter snake body mechanism.

2. A variable diameter snake-like underwater robot according to claim 1, characterized in that: The variable diameter support assembly also includes a guide subassembly; The guide subassembly comprises a guide plate (203), a plurality of slide grooves (204) and a plurality of sliders (205); the plurality of slide grooves (204) are evenly distributed along the circumferential direction of the guide plate (203) and are provided on the guide plate (203); the length direction of the slide grooves (204) is consistent with the radial direction of the guide plate (203); the plurality of sliders (205) are slidably installed in the plurality of slide grooves (204) in a one-to-one correspondence; and the sliders (205) can move along the length direction of the slide grooves (204); The guide plate (203) is coaxially fixedly mounted on the main support column (210), and the plurality of sliding blocks (205) are fixedly mounted on the plurality of sub-support columns (201) in a one-to-one correspondence.

3. A variable diameter snake-like underwater robot according to claim 2, characterized in that: The variable diameter support assembly also includes a driving subassembly; The driving subassembly comprises a rotating ring (208), a driving motor (207), a first gear (206), a second gear (211) and a plurality of connecting rods (202); the housing of the driving motor (207) is fixedly mounted on the rotating ring (208); the first gear (206) is coaxially fixedly mounted on the output shaft of the driving motor (207); the second gear (211) is meshed with the first gear (206); two ends of the connecting rod (202) are respectively a first connecting end and a second connecting end; and the first connecting ends of the plurality of connecting rods (202) are evenly distributed along the circumferential direction of the rotating ring (208) and are rotatably mounted on the rotating ring (208); The rotating ring (208) is coaxially sleeved outside the main support column (210) and can rotate around its axis relative to the main support column (210); the second gear (211) is coaxially fixedly mounted on the main support column (210); and the second connecting ends of the plurality of connecting rods (202) are rotatably mounted on the plurality of sub-support columns (201) in a one-to-one correspondence.

4. The variable diameter snake-like underwater robot according to claim 1, characterized in that: The variable diameter snake body mechanism further comprises a plurality of hinge units (5); The hinge unit (5) comprises a first hinge component (501) and a second hinge component (502), wherein the first hinge component (501) and the second hinge component (502) are hinged to each other; Any two adjacent variable-diameter snake-body units (2) are connected together via a hinge unit (5), and the first hinge (501) and the second hinge (502) are respectively fixedly mounted on the two adjacent variable-diameter snake-body units (2).

5. The variable diameter snake-like underwater robot according to claim 1, characterized in that: The snake head mechanism (1) is rotatably mounted on the head end of the variable diameter snake body mechanism via a first rotating unit (6), and the snake tail mechanism (3) is rotatably mounted on the tail end of the variable diameter snake body mechanism via a second rotating unit (4); The first rotating unit (6) comprises a first rotating motor (602), a first rotating member (601) and a second rotating member (603), wherein the first rotating member (601) is fixedly mounted on a housing of the first rotating motor (602), and the second rotating member (603) is fixedly mounted on an output shaft of the first rotating motor (602); The second rotating unit (4) comprises a second rotating motor (402), a third rotating member (403) and a fourth rotating member (401), wherein the third rotating member (403) is fixedly mounted on a housing of the second rotating motor (402), and the fourth rotating member (401) is fixedly mounted on an output shaft of the second rotating motor (402); The first rotating member (601) is fixedly mounted on the snake head mechanism (1), the second rotating member (603) is fixedly mounted on the head end of the variable diameter snake body mechanism, the third rotating member (403) is fixedly mounted on the snake tail mechanism (3), and the fourth rotating member (401) is fixedly mounted on the tail end of the variable diameter snake body mechanism.

6. The variable diameter snake-like underwater robot according to claim 1, characterized in that: The variable diameter snake body unit (2) further comprises a tactile component; The tactile component includes a plurality of tactile sensors (212); The plurality of tactile sensors (212) are fixedly mounted one by one on a side of the plurality of propulsion assemblies (213) away from the main support column (210).

7. The variable diameter snake-like underwater robot according to claim 1, characterized in that: The snake head mechanism (1) comprises a snake head body (105), an illumination component (101), a scanning component (102), a camera component (103) and a recording component (104); The lighting component (101), the scanning component (102), the camera component (103) and the recording component (104) are all fixedly mounted on the front end of the snake head body (105).

8. The variable diameter snake-like underwater robot according to claim 1, characterized in that: The tail mechanism (3) comprises a tail body (301) and a plurality of tail wings (302); The plurality of tail wings (302) are evenly distributed along the circumferential direction of the tail body (301) and are fixedly mounted on the tail body (301).

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