The invention discloses a multi-rotating shaft coaxial transmission mechanism comprising a large turntable driving mechanism, a paper disk driving mechanism A and a paper driving mechanism B. The large turntable driving mechanism comprises a large turntable, a large turntable driving motor, a large turntable first driving gear, a large turntable second driving gear and a large turntable transmission shaft barrel. The paper disk driving mechanism A and the paper driving mechanism B each include a chuck servo motor, a plurality of synchronous pulleys, a plurality of synchronous belts, a transmission shaft barrel and a paper disc chuck. According to the multi-rotating shaft coaxial transmission mechanism, the problem that the servo motor is fixedly installed and can transmit power to two shafts rotating around a third shaft is effectively solved. The servo motor is adopted, so that the paper disc chuck can achieve torque control-based paper tape tension control and accurate positioning control on paper tape chuck feeding.