Pipelines, valves, and pressure vessels (PVs) are vital components in nuclear power, thermoelectric, and chemical systems, operating under high-temperature and high-pressure conditions. Ensuring their safe operation requires regular inspections, which current robotic systems cannot fully address due to the diverse and challenging environments. To address this need, we propose a robotic system featuring a narrow-waist spring torso, airbag foot supports, and propeller negative pressure adsorption. The robot exhibits three key features: First, the narrow-waist spring torso enables extensive telescopic and multi-directional bending deformation, allowing it to navigate sharp turns and avoid edges of necks within stop valves. Second, the airbags offer exceptional passive compliance and large deformation capacity, adapting to significant size variations and shape changes within valve cavities for reliable anchoring. Third the propeller negative pressure adsorption allows the robot to traverse PV inner walls with poor surface conditions, such as corrosion and scaling. The robot employs a worm-like creeping motion to adapt to complex internal channels and varying curvatures of pipelines and PVs. Experimental results demonstrate the robot’s ability to smoothly traverse a DN125 stop valve (84 mm-125 mm internal diameter) and move between pipelines and PVs. This confirms its capability to operate across multiple scenes, adapting to wall curvature radii from 55.5 mm to infinity and handling bosses, shape changes and size variations. This robotic system provides a valuable reference for designing non-disassembly internal inspection robots in gas and liquid transport systems, enhancing safety and reliability in high-temperature and high-pressure environments.