The invention relates to a combined mechanism driven oscillating tooth end surface harmonic gear device. The device comprises a shell, a bearing bush, an input shaft, a first locking nut, a driving bevel gear, a second locking nut, a driven bevel gear rack, a bearing stop piece, a bearing, a first driven bevel gear connecting rack, a second driven bevel gear connecting rack, a third driven bevel gear connecting rack, a fourth driven bevel gear connecting rack; a first oscillating tooth rack, a second oscillating tooth rack, a third oscillating tooth rack, a fourth oscillating tooth rack, an end surface gear, an output shaft, a sheave and an end surface gear end cover, wherein a motor drives the input shaft to rotate, the input shaft drives the driving bevel gear to rotate through spline, the driving bevel gear simultaneously drives four sets of driven bevel gears to rotate, the driven bevel gears on the driven bevel gear rack can perform revolution around the axis of the driving bevelgear while being engaged with the driving bevel gear and performing autorotation, and finally rotation is output from the output shaft. Compared with the prior art, the friction loss is reduced, and the transmission accuracy and efficiency and the transmission ratio of a whole gear system are improved.