The invention belongs to the technical field related to robot walking mechanisms, and discloses a stair climbing loading vehicle. The stair climbing loading vehicle comprises a rack, two main side plates, two four-bar links, a stair climbing tow bar and friction wheels. The main side plates are fixedly connected to one end of the rack, and the two main side plates are separately located on two opposite sides of the rack. The two four-bar links are separately connected to the two main side plates, the two ends of the stair climbing tow bar are separately connected to the two four-bar links, andare separately provided with the friction wheels. When the stair climbing loading vehicle is in operation, the friction wheels are always attached to stairs so as to provide the friction required forthe stair climbing loading vehicle. By adopting the four-bar links, the stair climbing loading vehicle can be always attached to the stairs, the stability of climbing stairs is improved, and bumpingduring the stair climbing process and energy waste and cargo damage caused by bumping are reduced.