中文摘要：

针对地震废墟环境,为扩大内窥镜式生命搜救仪的搜救范围,使其能够被送进到狭小的废墟缝隙中,研制了一种用于废墟搜救的内窥镜式生命搜救仪的送进机器人.首先,对镜体的送进机理以及机器人结构作了详细的理论分析,然后对分析结果进行了运动学仿真验证,并据此设计出机器人样机.通过多机器人协作,配合前拉后推的送进方式和头部偏转机构的方向控制,可以逐节渐进式地将柔性内窥镜镜体送进到废墟缝隙中.样机实验结果表明,该机器人能够平稳有效地完成对柔性内窥镜镜体的送进工作.

英文摘要：

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.