Abstract: For ruin environment after earthquake, a feed-in robot for endoscope type life search and rescue instrument is developed to expand the working range of endoscope type life search and rescue instrument and allow it to be sent into the tiny crack in the rubble.The mechanism of the endoscope feed-in method and the structure of the robot are analyzed theoretically in detail, and the analysis results are supported by kinematics simulation.A prototype machine is manufactured.The flexible endoscope can be progressively sent into ruin cracks section-by-section under the cooperation of serval feed-in robots and and the direction control of head deflection mechanism by a pulling-pushing feed-in method.Prototype experiments show that the flexible endoscope can be sent smoothly and efficiently.