The invention discloses a biaxial rotating bearing device with a swing vibration preventing function. The biaxial rotating bearing device comprises a bush, an outer ring, a roller pin, an inner ring and a wheel axle, wherein the outer ring is arranged at the periphery of the roller pin; the roller pin is arranged at the periphery of the inner ring; the inner ring is arranged at the periphery of the wheel axle; the bush is arranged in a wheel axle hole; the wheel axle is connected with a landing gear actuator; two sides of the inner side of the inner ring are spherical surfaces, and the upper part and the lower part of the inner ring are planes; two sides of the outer side of the wheel axle are spherical surfaces and the upper part and the lower part of the wheel axle are planes. In addition, the structural shape of the wheel axle is matched with that of the inner side of the inner ring, and a clamping groove is formed in the bush. The biaxial rotating bearing device disclosed by the invention has the beneficial effects of being convenient to produce, relatively good in practicality, easy to popularize and apply, and relatively high in value.