The invention relates to a helicopter coaxial double-rotor wing two-rotation three-movement parallel driving device. The device comprises a rotor wing mechanism, a movable table, a base, two PSS type driving rods, a PUU type driving rod, two rotating transmission shafts, two engines and a spring. The rotor wing mechanism comprises a movable table, a mandrel, an inner sleeve, an outer sleeve, a pull rod set, an upper paddle set, a lower paddle set, an upper connecting rod set, a lower connecting rod set, a gear set and an auxiliary electric rod. The upper paddle set and the lower paddle set are rotationally connected with the convex circular truncated cones of the coaxial inner sleeve and outer sleeve; the movable table is rotationally connected with the inner sleeve and the outer sleeve; the two ends of each of three driving rods are hinged to the movable table and the base to drive the rotor wing mechanism to swing and stretch out and draw back. the engine are connected with the bases; the two ends of each rotating transmission shaft are connected with an engine shaft and a gear set input shaft to drive the inner sleeve and the outer sleeve to rotate forwards and backwards; the auxiliary electric rod drives the paddle set to automatically tilt through a lead screw, the core rod, the pull rod set and the connecting rod set; the spring distributes rotor loads to the bases from the movable table. The device of the invention has the advantages of high navigational speed, large lift force, balanced reaction torque, simple structure, good stability and the like, and the engine is arranged on the engine base.