In order to meet the needs of fire prevention in urban environment, a flexible inspection robot suitable for fire monitoring is designed. The robot is composed of a mobile platform and a cradle head, the suspension system uses a rocker bogie structure, and moves in a six-wheel and six-drive mode; the bottom control system adopts an embedded design, integrates an ultrasonic sensor, a temperature sensor, a smoke sensor, a gray sensor, the camera and a wireless communication module, and realizes the autonomous movement of the robot in a line inspection mode; A remote controller is designed to manually control the movement of the robot; the statics analysis of the main parts of the robot is carried out, the simulation experiment is carried out by using Adams software, and the experimental prototype is built to carry out the line inspection experiment. The results show that the fire inspection robot is feasible.