According to the requirements of safety operation and maintenance and management of the comprehensive pipe gallery, a pipe gallery fire inspection robot was designed, which integrated the functions of inspection and fire fighting. The robot was composed of a robot body, a fire extinguisher, a robot arm and an intelligent inspection system. The overall structure and function of the robot were introduced, the D-H coordinate system of the robot was established, and the forward and inverse kinematics of the robot were analyzed. Monte Carlo method and MATLAB software were used to simulate and analyze the working space of the robot arm, and the working space of the end of the robot arm under different conditions was obtained. The simulation results verify that the robot arm can flexibly meet the working requirements of the robot, which lays a foundation for the control work and optimization design of the subsequent fire inspection robot for pipe gallery.