Modularized underwater snakelike robot

The utility model discloses a modularized underwater snakelike robot, which belongs to the technical field of snakelike robots and comprises six modules, namely a head detection control module, two power joint mechanisms, a submerging and surfacing translation joint mechanism, a tail butt joint and a replaceable tool joint mechanism, and a magnetic control joint mechanism for joint assembly. According to the device, magnetic control joint mechanisms are designed in all joint modules to adjust the angles of magnets, then the turning angles of the modules can be adjusted, different from traditional joint modules driven by steering engine gears, electromagnet joints of the device have the advantage of being high in response speed, the flexibility of the underwater snakelike robot is effectively improved, and meanwhile the flexibility of the underwater snakelike robot is improved. And each cabin section can be divided into different modules according to functions, and the modules can be increased and decreased ac