The invention provides a design scheme of a coaxial type bending and twisting simultaneous transmission control surface transmission mechanism, and aims to solve inherent defects of a common pull rodrocker arm type control surface transmission mechanism for airplanes adopting airfoils with medium and above thicknesses. The mechanism is characterized by comprising a steering engine, a steering engine mounting rib, a needle bearing, a check ring, a coupler, a transmission spline, a control surface, a knuckle bearing, a rotating shaft pin, a control surface mounting rib and a machine body rear beam, wherein the steering engine is connected with the coupler, the needle bearing is arranged on the coupler, a check ring bearing is arranged on the outer side of the needle bearing, the check ringbearing is provided with the steering engine mounting rib, the steering engine mounting rib is connected with the transmission spline, one side of the transmission spline is the control surface, the control surface is provided with the rotating shaft pin, the rotating shaft pin is connected with the knuckle bearing, the knuckle bearing is connected with the control surface mounting rib, and the control surface mounting rib is connected with the machine body rear beam.