The invention discloses a wheel web type integrated travelling mechanism. The wheel web type integrated travelling mechanism comprises a deformation leg of a chain structure and a deformation mechanism used for driving the deformation leg; the deformation leg comprises a plurality of deformation joints hinged sequentially, and the deformation joints are provided with arc sliding grooves formed inthe longitudinal direction of the deformation leg; and the deformation mechanism comprises a sliding chain and a deformation driving mechanism, wherein the sliding chain is formed by hinging a plurality of arc sliding blocks sequentially, and the deformation driving mechanism is used for driving the reciprocating sliding of the sliding chain in the arc sliding grooves of the deformation leg. According to the wheel web type integrated travelling mechanism, the arc sliding blocks and the arc sliding grooves can be concentric completely, the smooth, accurate and quick deformation of a robot is ensured, resistance borne by the robot in the deformation process is reduced, and the phenomenon of unfinished deformation is avoided.