Two-axle steering system

Abstract

This utility model relates to a two-axis steering device, comprising: a base; a first motor mounted on the base, the output shaft of the first motor being drively connected to a second motor, and the output shaft of the second motor being connected to a load; a first transfer control board electrically connected to the first motor and a second transfer control board electrically connected to the second motor are also mounted on the base; under the control of the first transfer control board, the first motor outputs rotational motion in a first direction; under the control of the second transfer control board, the second motor outputs rotational motion in a second direction; by coordinating the rotational motion in the first and second directions, the angle of the load is adjusted. This utility model can precisely adjust the angle of the load, meeting various adjustment needs and improving the flexibility and applicability of the device.

Description

Technical Field

[0001] This utility model relates to the field of mechanical structure and motion control technology, and in particular to a two-axis steering device. Background Technology

[0002] In the commercial space sector, commercial microsatellites are widely used in remote sensing monitoring and communication transmission due to their advantages such as low cost and short development cycle. However, the plate-shaped payloads such as solar arrays and data transmission antennas carried by current commercial microsatellites generally adopt fixed installation structures, which cannot be rotated and adjusted according to changes in the external environment.

[0003] When a satellite operates in space, its orbit is complex and constantly changing, with the direction of illumination and signal transmission constantly shifting. Under these circumstances, fixed plate-shaped payloads cannot consistently maintain a positive orientation towards sunlight and ground signal receiving stations. For example, when a satellite is in a specific orbital position or attitude, the solar array may not be perpendicular to the sunlight, resulting in a significant reduction in light energy acquisition efficiency and severely impacting the satellite's power supply. Similarly, data transmission antennas may not be directly aligned with the ground receiving station, leading to decreased signal transmission quality, limited data transmission rates, or even signal interruptions. Light energy and signal strength are critical elements for satellites to maintain normal operation and complete their intended missions. However, existing fixed plate-shaped payload mounting structures are no longer sufficient to meet the needs of commercial microsatellites for efficient energy acquisition and stable signal transmission. Utility Model Content

[0004] Therefore, it is necessary to provide a two-axis steering device that can achieve more degrees of freedom in adjustment to address the aforementioned technical problems.

[0005] A two-axis steering device includes: a base; a first motor mounted on the base, the output shaft of the first motor being drively connected to a second motor, and the output shaft of the second motor being connected to a load; a first transfer control board electrically connected to the first motor and a second transfer control board electrically connected to the second motor are also mounted on the base; under the control of the first transfer control board, the first motor outputs rotational motion in a first direction; under the control of the second transfer control board, the second motor outputs rotational motion in a second direction; the load is angled by coordinating the rotational motion in the first direction and the rotational motion in the second direction.

[0006] In one embodiment, a first limiting member is provided in the output shaft direction of the first motor to limit the rotation angle of the first motor; And / or, in the direction of the output shaft of the second motor, a second limiting member is provided to limit the rotation angle of the second motor.

[0007] In one embodiment, an overhead layer is provided between the base and the first motor; the first adapter control board and the second adapter control board are located in the overhead layer.

[0008] In one embodiment, a heat-conducting element is provided on the surface of the first motor, and / or the second motor, and / or the first adapter control board, and / or the second adapter control board, and heat dissipation is achieved through the heat-conducting element.

[0009] In one embodiment, an anti-radiation layer is further provided between the first adapter control board and the heat-conducting component, and between the second adapter control board and the heat-conducting component.

[0010] In one embodiment, a fixing plate is provided around the first motor, the second motor, the first adapter control board, and the second adapter control board, and the fixing plate is used for fixing.

[0011] In one embodiment, the fixing plate adopts a hollow design.

[0012] In one embodiment, a support member is also provided on the mounting plate of the second motor, and the second motor is detachably fixed to the base by the support member, and the support member and the second motor are rotatably connected.

[0013] In one embodiment, an external connector is provided on the output shaft of the second motor, and the load is connected through the external connector.

[0014] In one embodiment, a plurality of mounting portions are provided on the side of the base; the mounting portions are used for detachable connection with the satellite.

[0015] Compared with the prior art, the two-axis steering device provided by this utility model has the following advantages: 1. By having the first motor output rotational motion in the first direction and the second motor output rotational motion in the second direction, the two directions of motion work together to precisely adjust the angle of the load, which can meet the adjustment needs of various different angles and improve the flexibility and applicability of the device.

[0016] 2. The first motor, the second motor, and their respective adapter control boards are integrated on the base, resulting in a compact overall structure that occupies little space; this integrated design also facilitates overall installation, debugging, and maintenance.

[0017] 3. The first and second transfer control boards independently control the first and second motors, respectively, and can accurately control the rotation angle, speed and other parameters of the motors, thereby achieving precise adjustment of the load angle, improving the accuracy and reliability of control, and facilitating automated control and precise operation.

[0018] 4. The first motor is connected to the second motor through its output shaft, and the output shaft of the second motor is directly connected to the load. This direct connection reduces intermediate links in the power transmission process, reduces energy loss, improves power transmission efficiency, ensures that the device can operate at a high efficiency, and also helps to reduce potential failure points caused by too many intermediate links. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on the structures shown in these drawings without creative effort.

[0020] Figure 1 This is an exploded view of a two-axle steering device in one embodiment; Figure 2 This is a schematic diagram of a two-axis steering device assembly in one embodiment; Figure 3 This is a schematic diagram of the connection between a two-axis steering device and a load in one embodiment.

[0021] Explanation of reference numerals in the attached figures: External connector 1, second bushing 2, second bearing clamp 3, second bearing 4, second motor mounting plate 5, support 6, third bearing 7, third bushing 8, second left fixing plate 9, second motor 10, second lower fixing plate 11, second upper fixing plate 12, second right fixing plate 13, first bearing support plate 14, first limiting component 15, second limiting component 16, first bearing 17, first left fixing plate 18, left thermal conductive silicone pad 19, base 20, second chip protective cover 21, second adapter control plate 22, first right fixing plate 23, right thermal conductive silicone pad 24, first lower fixing plate 25, first bushing 26, first upper fixing plate 27, upper thermal conductive silicone pad 28, first motor 29, first rear fixing plate 30, first adapter control plate 31, first motor mounting plate 32, first chip protective cover 33, load 34.

[0022] The purpose, features, and advantages of this utility model will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0023] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0024] It should be noted that all directional indicators (such as up, down, left, right, front, back, etc.) in this utility model embodiment are only used to explain the relative positional relationship and movement of each component in a specific posture. If the specific posture changes, the directional indicator will also change accordingly.

[0025] Furthermore, in this utility model, the use of terms such as "first," "second," etc., is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of that feature. In the description of this utility model, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified.

[0026] In this utility model, unless otherwise explicitly specified and limited, the terms "connection," "fixed," etc., should be interpreted broadly. For example, "fixed" can mean a fixed connection, a detachable connection, or an integral part; it can mean a mechanical connection, an electrical connection, a physical connection, or a wireless communication connection; it can mean a direct connection or an indirect connection through an intermediate medium; it can mean the internal connection of two components or the interaction between two components, unless otherwise explicitly limited. Those skilled in the art can understand the specific meaning of the above terms in this utility model according to the specific circumstances.

[0027] It is understood that the technical solutions of the various embodiments of this utility model can be combined with each other, but this must be based on the ability of a person skilled in the art to implement them. When the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the protection scope claimed by this utility model.

[0028] The embodiments of this utility model will now be described in detail with reference to the accompanying drawings.

[0029] like Figures 1 to 3As shown, the two-axis steering device provided in this embodiment includes: a base 20, a first motor 29 disposed on the base 20, a second motor 10 connected to the output shaft of the first motor 29, and a load 34 connected to the output shaft of the second motor 10; a first transfer control board 31 electrically connected to the first motor 29 and a second transfer control board 22 electrically connected to the second motor 10 are also disposed on the base 20; under the control of the first transfer control board 31, the first motor 29 outputs rotational motion in a first direction; under the control of the second transfer control board 22, the second motor 10 outputs rotational motion in a second direction; by coordinating the rotational motion in the first direction and the rotational motion in the second direction, the angle of the load 34 is adjusted.

[0030] In this embodiment, the first and second directions are not in the same plane. Using a spatial rectangular coordinate system O-XYZ as a reference, the rotational motion in the first direction is a rotation about the X-axis, with its rotation plane being the YOZ plane; the rotational motion in the second direction is a rotation about the Y-axis, with its rotation plane being the XOZ plane. The angle between the direction vectors of the two rotation axes is 90°. In this case, although the two rotational motions are coplanar on the Z-axis, their rotation planes are perpendicular to each other. In other embodiments, if the rotational motion in the second direction is around an axis that is not in the same plane as the X-axis (such as an axis parallel to the Y-axis but translated along the Z-axis), then the two rotation axes spatially intersect, and the rotation planes are not coplanar and have a certain angle between them. In this embodiment, it is preferable that the angle between the direction vectors of the two rotation axes is 90°.

[0031] Specifically, the base 20 has a plate-like structure, and a hollow design is used to achieve a lightweight structure. Several mounting parts are provided on the side of the base 20; these mounting parts connect to the satellite using a detachable connection method. It is worth noting that detachable connections include, but are not limited to, snap-fit ​​connections, threaded connections, pin connections, magnetic connections, and plug-in connections, which can be selected as needed. Furthermore, the detachable connection methods mentioned later in this embodiment have the same meaning and will not be elaborated further.

[0032] In this embodiment, the mounting portion of the base 20 extends out of the main body and is primarily provided with threaded holes. The number of these holes is determined as needed, generally 4 to 8, preferably 6. The threaded holes are connected to the satellite's mounting surface using screws. The base 20 is made of lightweight aluminum alloy, such as 6063-T6 series aluminum alloy.

[0033] The first motor 29 is located at the rear of the base 20, and a fixing plate is provided around the first motor 29. The fixing plate includes a first left fixing plate 18, a first right fixing plate 23, a first lower fixing plate 25, a first upper fixing plate 27, and a first rear fixing plate 30. All fixing plates adopt a hollow design to achieve the purpose of structural lightweighting. The first left fixing plate 18, the first right fixing plate 23, the first lower fixing plate 25, the first upper fixing plate 27, and the first rear fixing plate 30 are all provided with threaded holes. After aligning the threaded holes at corresponding positions on each plate, they are fixed with screws.

[0034] A first motor mounting plate 32 is provided on the front side of the first motor 29, i.e., on the side of the output shaft. The first motor 29 is fixed to the first motor mounting plate 32 with screws. Specifically, the first motor mounting plate 32 has a through hole in its center and threaded holes around its circumference. The output shaft of the first motor 29 passes through this through hole. Then, the threaded holes of the first motor mounting plate 32 are aligned with the threaded holes on the first motor 29 and fixed with screws. Similarly, threaded holes are provided below the first motor mounting plate 32, corresponding to the threaded holes on the first lower fixing plate 25, and then fixed with screws. Through the cooperation of the first left fixing plate 18, the first right fixing plate 23, the first lower fixing plate 25, the first upper fixing plate 27, the first rear fixing plate 30, and the first motor mounting plate 32, the first motor 29 is enclosed and stably fixed, while also providing protection.

[0035] The first rear fixing plate 30 is also provided with a wiring hole for circuit routing. The wiring hole can be designed in combination with the hollow structure to achieve both weight reduction and wiring routing. Other fixing plates can also be designed with a hollow structure combined with the wiring hole if wiring is required, which will not be elaborated here. The first left fixing plate 18, the first right fixing plate 23, the first lower fixing plate 25, the first upper fixing plate 27, the first rear fixing plate 30, and the first motor mounting plate 32 are all made of lightweight aluminum alloy, such as 6063-T6 series aluminum alloy.

[0036] An overhead layer exists between the base 20 and the first motor 29, meaning there is a certain space between the base 20 and the first lower fixing plate 25. The first adapter control board 31 and the second adapter control board 22 are located in the overhead layer and are detachably connected to the base 20, preferably using screws for installation. The first adapter control board 31 and the second adapter control board 22 can be placed parallel to each other or vertically. When setting their positions, it is preferable to minimize the wiring distance when electrically connecting to the first motor 29 and the second motor 10 respectively. For example, when placed parallel to each other, the first adapter control board 31 is located at the rear, and the second adapter control board 22 is located at the front; when placed vertically, the first adapter control board 31 is located on top, and the second adapter control board 22 is located below. The two are fixed together by mounting studs, maintaining a certain distance between them.

[0037] It is worth noting that the first left fixing plate 18, the first right fixing plate 23, and the first rear fixing plate 30 simultaneously protect the first adapter control board 31 and the second adapter control board 22. On the side of the main chip of the first adapter control board 31 and the second adapter control board 22, a first chip protective cover 33 and a second chip protective cover 21 are also provided; the first chip protective cover 33 and the second chip protective cover 21 are detachably connected to the first adapter control board 31 and the second adapter control board 22, respectively, preferably using screws. Furthermore, depending on the orientation of the main chip of the first adapter control board 31 and the second adapter control board 22, the first chip protective cover 33 and the second chip protective cover 21 are also detachably connected to other adjacent structures. The first chip protective cover 33 and the second chip protective cover 21 are made of lightweight aluminum alloy, such as 6063-T6 series aluminum alloy.

[0038] A heat-conducting component is also provided on the surface of the first motor 29 to dissipate heat from the first motor 29. The heat-conducting component is located between the first motor 29 and the fixing plate. The heat-conducting component is mainly a thermally conductive silicon pad, and the number and position of the pads are determined according to the space and requirements of the structure. In this embodiment, since the first adapter control board 31 and the second adapter control board 22 are located below the first motor 29 and need to be electrically connected, and the rear needs to be used for wiring, the upper thermally conductive silicon pad 28, the left thermally conductive silicon pad 19, and the right thermally conductive silicon pad 24 are respectively provided on the upper surface, the left side, and the right side of the first motor 29.

[0039] Additionally, on the main chip side of the first adapter control board 31 and the second adapter control board 22, an anti-radiation layer and a heat-conducting component are sequentially arranged from the inside out; that is, an anti-radiation layer and a heat-conducting component are respectively arranged between the first adapter control board 31 and the first chip protective cover 33, and between the second adapter control board 22 and the second chip protective cover 21. The anti-radiation layer is attached to the main chip, and one side of the heat-conducting component is attached to the anti-radiation layer, while the other side is attached to the chip protective cover. Preferably, the anti-radiation layer is made of tantalum sheet, and the heat-conducting component is made of thermally conductive silicon pad.

[0040] A first bushing 26 is mounted on the output shaft of the first motor 29 by screws. The other end of the first bushing 26 is inserted into the inner hole of the first bearing 17 and is fixedly connected to the inner hole of the first bearing 17. Then, the first bearing 17 is embedded in the through hole of the first bearing support plate 14 and is fixedly connected to the through hole. The first bushing 26 and the first bearing 17 are preferably made of high-quality rigid materials, such as 304 stainless steel; the first bearing support plate 14 is made of lightweight aluminum alloy, such as 6063-T6 series aluminum alloy. It is worth noting that the fixed connection includes, but is not limited to, interference fit connection, welding connection, etc., which can be selected according to the situation. In this embodiment, interference fit is preferred. In addition, the fixed connection methods mentioned later in this embodiment have the same meaning and will not be described again.

[0041] The second motor 10 is located at the front of the base 20, and a fixing plate is also provided around the second motor 10. The fixing plate mainly includes a second left fixing plate 9, a second lower fixing plate 11, a second upper fixing plate 12, and a second right fixing plate 13. The fixing plate preferably adopts a hollow design to achieve the purpose of structural lightweighting. If the fixing plate is small in size, or to maintain structural stability, a hollow design may not be used, such as the second lower fixing plate 11. Threaded holes are provided on the second left fixing plate 9, the second lower fixing plate 11, the second upper fixing plate 12, and the second right fixing plate 13. After aligning the threaded holes at corresponding positions on each plate, they are fixed with screws.

[0042] A support member 6 is also provided on the second left fixing plate 9 on the left side of the second motor 10. The second motor 10 is detachably fixed to the base 20 by the support member 6. Specifically, a through hole is opened in the upper part of the support member 6, and a third bearing 7 is inserted into the through hole to form a fixed connection. Then, a third bushing 8 is inserted into the inner hole of the third bearing 7 and fixedly connected with the third bushing 8. Then, the other end of the third bushing 8 is fixed to the second left fixing plate 9. A threaded hole is provided at the lower end of the support member 6. After aligning the threaded hole with the corresponding threaded hole in the base 20, it is fixed by screws. At the same time, the first bearing support plate 14 and the second right fixing plate 13 are detachably connected by screws. Through the cooperation of the first bearing 17 and the third bearing 7, the second motor 10 is connected to the output shaft of the first motor 29. As the first motor 29 outputs rotational motion in the first direction, it drives the second motor 10 to rotate in the first direction.

[0043] A second motor mounting plate 5 is provided on one side of the output shaft of the second motor 10. The second motor 10 is fixed to the second motor mounting plate 5 with screws. Specifically, the second motor mounting plate 5 has a through hole in its center and threaded holes around its circumference. The output shaft of the second motor 10 passes through this through hole. Then, the threaded holes on the second motor mounting plate 5 are aligned with the threaded holes on the second motor 10 and fixed with screws. The second motor mounting plate 5 also has threaded holes for connecting with the second lower fixing plate 11 and the second upper fixing plate 12. When the second motor mounting plate 5 is connected to the second motor 10, it is threadedly connected to the second lower fixing plate 11 and the second upper fixing plate 12 through the threaded holes. Through the cooperation of the second left fixing plate 9, the second lower fixing plate 11, the second upper fixing plate 12, the second right fixing plate 13, and the second motor mounting plate 5, the first motor 29 is enclosed within, and the second motor 10 is stably fixed, while also providing protection. The second left fixing plate 9, the second lower fixing plate 11, the second upper fixing plate 12, the second right fixing plate 13, and the second motor mounting plate 5 are all made of lightweight aluminum alloy, such as 6063-T6 series aluminum alloy.

[0044] It is worth noting that no protective rear plate is provided behind the second motor 10 in this embodiment. That is to say, while ensuring the structural safety and stability, it is permissible to partially install a fixing plate, or to install a fixing plate around the entire circumference of the motor, depending on the specific circumstances.

[0045] Additionally, a heat-conducting component can be installed on the surface of the second motor 10 to dissipate heat from the second motor 10. The heat-conducting component is not shown in the figure; specifically, it is located between the second motor 10 and the mounting plate. The heat-conducting component is primarily a thermally conductive silicon pad, and its quantity and location are determined based on the available space and structural requirements. For example, it can be installed simultaneously on the upper, lower, left, and right surfaces of the second motor 10; if wiring is required, it can also be partially installed.

[0046] A second bushing 2 is installed on the output shaft of the second motor 10 by screws. The second bushing 2 is inserted into the inner hole of the second bearing 4 and is fixedly connected to the inner hole of the second bushing 2. Then, the second bearing 4 is embedded into the through hole of the second bearing clamp 3 and fixedly connected to the through hole. The second bearing clamp 3 is provided with threaded holes. The threaded holes of the second bearing clamp 3 are aligned with the threaded holes at the corresponding positions of the second motor mounting plate 5 and connected by screws. The other end of the second bushing 2 is inserted into the mounting hole of the external connector 1 and fixed by screws. The external connector 1 is provided with an external mounting plate, which is mainly used to connect the load 34. The external mounting plate is provided with external mounting holes, the number, position and shape of which are specially designed according to the specific load 34. The external connector 1 is fixed to the load 34 by screws. The material of the external connector 1 is lightweight aluminum alloy, such as 6063-T6 series aluminum alloy. The materials of the second bushing 2 and the second bearing 4 are preferably high-quality rigid materials, such as 304 stainless steel.

[0047] Furthermore, a first limiting member 15 is provided in the output shaft direction of the first motor 29 to limit the rotation angle of the first motor 29; and / or, a second limiting member 16 is provided in the output shaft direction of the second motor 10 to limit the rotation angle of the second motor 10. Specifically, a plurality of limiting mounting holes are provided laterally on the upper part of the first bearing support plate 14, and the first limiting member 15 is detachably fixed in the limiting mounting hole to limit the rotation angle of the first motor 29; the number of first limiting members 15 is one or two, and they are installed in the corresponding limiting mounting hole according to the required angle. It can be understood that when the first limiting member 15 is set to one, if it is set in a rearward position, it limits the rearward rotation angle of the first motor 29; if it is set in a forward position, it limits the forward rotation angle of the first motor 29. When two first limiting members 15 are provided, they simultaneously limit the forward and backward rotation angles of the first motor 29. Furthermore, when installed in the two furthest limiting mounting holes, the limited angle is the largest, meaning the first motor 29 can rotate at the smallest angle, resulting in the second motor 10 having the smallest possible rotational angle. As the first limiting members 15 are gradually moved towards the center, the limited angle gradually decreases, meaning the first motor 29 can rotate at a larger angle, resulting in the second motor 10 having a larger possible rotational angle. The first limiting member 15 uses a screw with a nut. When the screw is fixed in the limiting mounting hole, the nut protrudes as a limiting part. When rotating, the nut abuts against the upper surface of the second upper fixing plate 12, thereby limiting the angle.

[0048] Multiple limiting mounting holes are circumferentially arranged on the second bearing clamp 3. A second limiting member 16 is detachably fixed within these holes to limit the rotation angle of the second motor 10. The number of second limiting members 16 can be one or two, installed in the corresponding limiting mounting holes according to the required angle. It can be understood that when there is only one second limiting member 16, if it is positioned to the left, it limits the leftward rotation angle of the second motor 10; if it is positioned to the right, it limits the rightward rotation angle. If there are two second limiting members 16, they simultaneously limit both the leftward and rightward rotation angles of the second motor 10. The first limiting member 15 uses a screw with a nut. When the screw is fixed within the limiting mounting hole, the nut protrudes as a limiting part. During rotation, the nut abuts against the surface of the external mounting plate of the external connector 1, thereby limiting the angle. The second bearing clamp 3, the first limiting member 15, and the second limiting member 16 are preferably made of high-quality rigid materials, such as 304 stainless steel.

[0049] During operation, if the load 34 needs to be adjusted in the first direction, the first motor 29 is controlled by the first adapter control board 31 to output rotational motion in the first direction. If the load 34 needs to be adjusted in the second direction, the second motor 10 is controlled by the second adapter control board 22 to output rotational motion in the second direction. If the load 34 needs to be adjusted in multiple directions, the first motor 29 is controlled by the first adapter control board 31 to output rotational motion in the first direction, and the second motor 10 is controlled by the second adapter control board 22 to output rotational motion in the second direction. Through the coordination of rotational motion in the first and second directions, the load 34 can be adjusted in multiple directions in a complex manner.

[0050] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0051] The above-described embodiments are merely illustrative of several implementations of this utility model, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the utility model. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this utility model, and these all fall within the protection scope of this utility model. Therefore, the protection scope of this utility model should be determined by the appended claims.

Claims

1. A two-axle steering device, characterized in that, include: Base; A first motor is mounted on the base, the output shaft of the first motor is connected to a second motor, and the output shaft of the second motor is connected to a load. The base is also provided with a first adapter control board electrically connected to the first motor and a second adapter control board electrically connected to the second motor; Under the control of the first adapter control board, the first motor outputs rotational motion in the first direction; Under the control of the second adapter control board, the second motor outputs rotational motion in the second direction; The load angle is adjusted by coordinating rotational movements in the first and second directions.

2. The two-axle steering device according to claim 1, characterized in that, A first limiting member is provided in the output shaft direction of the first motor to limit the rotation angle of the first motor; And / or, in the direction of the output shaft of the second motor, a second limiting member is provided to limit the rotation angle of the second motor.

3. The two-axle steering device according to claim 1 or 2, characterized in that, There is an overhead layer between the base and the first motor; The first transfer control board and the second transfer control board are located in the overhead floor.

4. The two-axle steering device according to claim 1 or 2, characterized in that, Heat-conducting elements are provided on the surface of the first motor, and / or the second motor, and / or the first adapter control board, and / or the second adapter control board, and heat is dissipated through the heat-conducting elements.

5. The two-axle steering device according to claim 4, characterized in that, An anti-radiation layer is also provided between the first adapter control board and the heat-conducting component, and between the second adapter control board and the heat-conducting component.

6. The two-axle steering device according to claim 4, characterized in that, A fixing plate is provided around the first motor, the second motor, the first adapter control board, and the second adapter control board for fixing.

7. The two-axle steering device according to claim 6, characterized in that, The fixing plate adopts a hollow design.

8. The two-axle steering device according to claim 4, characterized in that, The mounting plate of the second motor is also provided with a support member, through which the second motor is detachably fixed to the base, and the support member is rotatably connected to the second motor.

9. The two-axle steering device according to claim 1, characterized in that, An external connector is provided on the output shaft of the second motor, through which the load is connected.

10. The two-axle steering device according to claim 1, characterized in that, Several mounting parts are provided on the side of the base; the base is detachably connected to the satellite through the mounting parts.

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