The invention relates to a luffing arm linkage ladder climbing device. The luffing arm linkage ladder climbing device comprises connecting rods, pedals, armrest rods, a luffing arm, a revolving turntable and a luffing oil cylinder, the luffing arm is hinged on the revolving turntable, the luffing oil cylinder is hinged between the luffing arm and the revolving turntable, a plurality of supporting bases are fixedly arranged on the luffing arm at intervals, the middle parts of the rear ends of a plurality of pedals are mutually hinged with the corresponding support bases, two connecting rods are respectively arranged on two sides of the front end of the pedals, and the connecting rods are hinged with the plurality of pedals, the front ends of the two connecting rods are bent downwards and are then hinged with the luffing arm, the armrest rods are hinged on both sides of the luffing arm through a vertical column, and the pedals, the armrest rods and the luffing arm are linked. The luffing arm linkage ladder climbing device has the advantages of simple structure, reliable performance, convenient operation, high utilization of space and relatively moderate appearance and comfort degree.