The invention belongs to the technical field of power transmission, in particular to a stepless transmission device. According to the technical scheme, a four-segment hydraulic mechanical composite transmission device comprises an input shaft, an output shaft, a planetary transmission component, a fixed shaft gear transmission component, a hydraulic speed regulating component, a segment-change operating component and an idler. One Lavina planetary mechanism is adopted as foundation, a multi-shaft fixed shaft gear and a synchronizer are utilized completely, three shunt modes of different-speed integrated torque, different-speed integrated speed and different-torque integrated speed are engaged reasonably, a four-segment continuous stepless speed change transmission structure, and the four-segment hydraulic mechanical composite transmission device has the advantages of simple structure, small size and the like; furthermore, by the aid of the four-segment hydraulic mechanical composite transmission device, purely mechanical transmission conditions of reverse gear and six fixed gears can be realized.