PURPOSE: To provide a driving device provided with excellent durability and capable of carrying out complex action at high speed and high accuracy in a small size and simple structure.

CONSTITUTION: This driving device is provided with an input shaft 2 and speed change shaft 3, wherein the rotation of the input shaft 2 is decelerated to 1/3 through gears 4, 5 and transmitted to a speed change shaft 3. First and second cams 6 and 7 are fixed onto the shafts 2, 3. Driven arms 12, 13 are swung by the actions of the cams 6, 7 and an output arm 14 and a sliding block 16 are reciprocatingly driven in the direction to be vertical to each other through a slide bearing 19. When the input shaft 2 turns three times, the slide block 16 reciprocates six times vertically and the output arm 14 reciprocates rightward/reftward three times.