Helicopter umbrella stand rotor wing one-rotation three-movement parallel driving device

The invention relates to a helicopter umbrella stand rotor one-rotation three-movement parallel driving device. The device comprises an umbrella stand rotor mechanism, a movable table, a base, RPS type driving rods, two SPS type driving rods, an engine, a telescopic universal transmission shaft, a ball rod and a spring; the umbrella stand rotor wing mechanism comprises a main shaft, a sleeve, n umbrella rods, n paddles and an auxiliary driving mechanism; the movable table is rotationally connected with the main shaft, fixedly connected with the auxiliary driving mechanism and connected with a ball rod cylindrical pair; the base is fixedly connected with the engine and is connected with the ball rod cylindrical pair; the three driving rods are circumferentially distributed, the two ends of each driving rod are hinged to the base and the movable table respectively; two ends of the telescopic universal transmission shaft are connected with a motor driving shaft and the main shaft to drive the main shaft to rotat