The optimized design of a new full-work condition adaptive steel pipe scaffold system was proposed to improve the limitations of traditional socket-type disc button steel scaffolds in practical application. In order to test the safety and stability of the new system, the basic unit body test and the semi-rigid finite element analysis of the steel pipe scaffold joints were carried out. Then, a SAP2000 modeling analysis was performed out on the basic element, and the rationality of the finite element analysis and test results was verified by comparing the experimental and theoretical values, and the range of the stiffness value of the joints was determined. The results show that the connection between the screw plate and the screw rod is reliable, and the joints will not be damaged before the component failure. The stiffness value of the joint is an important factor that affects the stability of the structure. It is suggested that the stiffness value K of the semi-rigid joint should be taken as 70 kN·m/rad.