Origami structure has good flexibility and folding ability. Based on the excellent axial deformation ability of Yoshimura origami structure, a pole-climbing robot driven by Yoshimura-ori actuators is designed. Firstly, a Yoshimura-ori actuator composed of Yoshimura-ori structure, thermoplastic urethane (TPU) sheet and polyethylene (PE) film is proposed and the actuator model is designed and fabricated. The relationship between the length of Yoshimura-ori actuator and the change of pressure is investigated. Then, a pneumatic adapter that can integrate and combine Yoshimura-ori actuators is proposed, and its design basis is analyzed. The working diameter range of the ring-shaped Yoshimura-ori actuator combination is measured, and the prototype of the pole-climbing robot is built. Finally, the control strategy of the pole-climbing robot is formulated, and its climbing performance is tested. The experimental results show that the pole-climbing robot has good climbing ability, and its ring structure can adapt well to the diameter size of the pole to realize the climbing function.