A three-axis rotational auxiliary device for use with VR

Abstract

This invention discloses a three-axis rotation assistive device for VR, belonging to the category of VR motion-sensing simulation devices. The device includes a support frame, a three-axis rotation mechanism, and a seat assembly. The three-axis rotation mechanism is composed of nested horizontal rotation, left-right rotation, and pitch rotation mechanisms. The horizontal rotation mechanism uses a conical bearing assembly, combining rotational transmission and vertical support to achieve 360° rotation. The left-right and pitch rotation mechanisms employ a modular drive system using arc-shaped tracks, gear racks, and rollers, eliminating the need for a gearbox. The maximum swing angle for both left-right and pitch rotation is 30°. This invention designs the range of motion based on human posture recognition, avoiding the risk of inversion, reducing torque and power requirements, resulting in a compact and lightweight structure, precise control, convenient maintenance, and improved safety and comfort, making it suitable for home VR motion-sensing scenarios.

Description

Technical Field

[0001] This invention relates to the execution peripherals of VR motion simulation devices, specifically to a three-axis rotation auxiliary device for use with VR. Background Technology

[0002] Commercially available equipment primarily consists of commercial motion seats and specialized rotating devices, which can provide a full range of rotational experiences and are also compatible with linear acceleration experiences in some directions. Specifically, this includes:

[0003] (1) Commercial multi-degree-of-freedom VR motion seats designed for use with entertainment equipment often offer 360° rotation in 1-3 directions and unidirectional movement. These devices rely on servo motors and PLC control systems to achieve precise motion control, with some high-end models featuring surround sound to enhance the experience. A common drawback is that their primary purpose is rotation or acceleration, resulting in excessive size and weight, limiting their widespread adoption, and placing high demands on the operator's health and adaptability. Furthermore, these devices often lack comprehensive human interaction methods, assuming by default that users can adapt to full-angle rotation or even inversion.

[0004] (2) Rotatable home products. These products are more compact, such as the Roto VRExplorer Chair, which supports 360-degree rotation and height adjustment on a single axis, is compatible with the Meta Quest headset, and can ensure tracking accuracy. Therefore, it is compatible with over 400 games and can rotate 360°. It does solve the discomfort and challenges caused by multiple rotations, but its limited functionality results in a minimalist structure.

[0005] The existing equipment on sale has the following deficiencies:

[0006] (1) No functional limitations. These products have little consideration for human cognitive control, often support large rotation angles, have independent drives in each direction, and are mostly powered by AC, making it difficult to control the weight and size of the equipment. Such products have a large rotation range, large size and weight, and are not suitable for home use. Collisions and stimuli may cause danger.

[0007] (2) Lack of consideration for the user's self-awareness leads to difficulty in control. During rapid rotation in three directions at all angles, it is difficult to accurately recognize and control one's own posture when the body is in a state of rapid rotation or even inverted. This makes it difficult for people to perform efficient and instinctive three-way rotation control. Under conditions of rapid three-way rotation, users often lose accurate self-posture perception. Therefore, the purpose of this type of equipment is mostly to passively experience the rotation process, and user operation is often abandoned, leaving it to be operated by professionals.

[0008] (3) Rotation angle limits are often not set. Due to the inertia of the equipment, when the deflection angle is large, the equipment needs a large acceleration when rotating to change direction. This often requires a high-specification motor and reduction mechanism, which increases the weight. Each rotational degree of freedom needs to be controlled independently and requires independent power, which in turn requires a large volume, high weight and high cost, thus limiting the promotion of the product.

[0009] In summary, commercial equipment focuses more on the feel of unidirectional or multidirectional rotation. When users rotate in three directions, achieving three-way rotation is not something that can be controlled in real time based on instinct. The larger size and weight also contribute to the insufficient market value of such products. Summary of the Invention

[0010] This invention provides a three-axis rotation assistive device for use with VR, including a bracket. The three-axis rotation assistive device includes a three-axis rotation mechanism mounted on the bracket and a seat assembly mounted on the three-axis rotation mechanism. The three-axis rotation mechanism drives the seat assembly to perform three-axis spatial rotation.

[0011] The three-axis rotation mechanism includes a horizontal rotation mechanism, a left-right rotation mechanism, and a pitch rotation mechanism;

[0012] The horizontal rotation mechanism includes a first motor, a first double gear, and a tapered bearing assembly connected in sequence. The first output gear of the first motor meshes with the first double gear, and the first double gear meshes with the teeth on the outer ring of the tapered bearing assembly. A horizontal turntable is fixed on the top of the tapered bearing assembly. The first motor drives the left and right rotation mechanism to rotate through the first double gear, thereby driving the left and right rotation mechanism, the pitch rotation mechanism, and the seat assembly to rotate horizontally.

[0013] The left and right rotation mechanism includes left and right arc-shaped fixed rails, left and right arc-shaped moving rails, and left and right drive systems. The left and right arc-shaped fixed rails are fixedly connected to the horizontal turntable, and the left and right arc-shaped moving rails are slidably installed inside the left and right arc-shaped fixed rails. The seat assembly is located at the center of the left and right arc-shaped fixed rails and the left and right arc-shaped moving rails. The left and right arc-shaped moving rails are equipped with left and right drive systems for driving the left and right arc-shaped moving rails to slide left and right inside the left and right arc-shaped fixed rails, thereby driving the pitch rotation mechanism and the seat assembly to swing left and right.

[0014] The pitch rotation mechanism includes a pitch arc fixed rail, a pitch arc moving rail, and a pitch drive system. The pitch arc fixed rail is fixedly connected to the left and right arc moving rails. The pitch arc moving rail is coaxially rotatably installed inside the pitch arc fixed rail. The seat assembly is located at the center of the pitch arc fixed rail and the pitch arc moving rail. The pitch drive system is installed on the pitch arc fixed rail to drive the pitch arc moving rail to pitch and rotate within the pitch arc fixed rail, thereby causing the seat assembly to pitch and swing. The seat assembly is fixedly installed on the pitch arc moving rail.

[0015] Furthermore, the tapered bearing assembly includes an internal gear ring, a tapered cage, and an external gear ring.

[0016] A tapered retainer is positioned between the inner and outer gear rings. The tapered retainer has a tapered tube, and several tapered rollers are arranged circumferentially on the outer wall of the tapered tube.

[0017] The internal gear ring consists of an integrally formed first gear ring and a fixed ring. The first gear ring meshes with a first double gear, and the fixed ring is fixedly connected to the horizontal turntable.

[0018] The first double gear has a first large gear and a first small gear that are fixedly connected. The first large gear meshes with the first output gear of the first motor, and the first small gear meshes with the internal gear ring.

[0019] Furthermore, the left and right arc-shaped rails are provided with left and right rail bases and C-shaped rails fixed on the left and right rail bases. The bottom center of the left and right rail bases is provided with a circular shallow groove, and the conical bearing assembly is provided in the circular shallow groove. The horizontal turntable is fixedly connected to the bottom of the circular shallow groove of the left and right arc-shaped rails.

[0020] The inner ring of the C-shaped track is provided with left and right racks and left and right raceways along the circumferential direction;

[0021] The left and right drive system is mounted on the left and right arc-shaped moving rails. The left and right drive system includes a second motor, a second drive gear, and a second double gear. The second double gear has a second large gear and a second small gear that are fixedly connected.

[0022] The second motor is fixedly mounted on the left and right arc-shaped moving rails. The second driving gear is fixedly mounted on the output shaft of the second motor. The second double gear is rotatably mounted on the first driven shaft. The first driven shaft is rotatably mounted on the left and right arc-shaped moving rails. The second large gear meshes with the second driving gear, and the second small gear meshes with the left and right racks. A first roller that rolls with the left and right raceways is fixedly mounted on the first driven shaft.

[0023] Furthermore, the left and right arc-shaped guide rails are provided with two left and right racks located on the front and rear sides of the left and right raceways respectively, and the inner ring height of the left and right raceways is higher than that of the left and right racks.

[0024] The left and right drive system is equipped with two sets of second drive gears and two sets of second double gears symmetrical about the left and right raceways. The two sets of second drive gears are fixedly mounted on the output shaft of the second motor, and the two sets of second double gears are rotatably mounted on the first driven shaft. The two sets of second drive gears respectively cooperate with the two sets of second double gears. The two second pinions of the two sets of second double gears respectively mesh with two left and right racks. The roller is located between the two second pinions.

[0025] Furthermore, the pitch arc-shaped guide rail is fixed with a pitch rack and a pitch raceway;

[0026] The pitch drive system is mounted on the pitch arc-shaped moving rail. The pitch drive system includes a third motor, a third drive gear, and a third double gear. The third double gear has a third large gear and a third small gear that are fixedly connected.

[0027] The third motor is fixedly mounted on the pitch arc-shaped moving rail, the third driving gear is fixedly mounted on the output shaft of the third motor, the third double gear is rotatably mounted on the second driven shaft, the second driven shaft is rotatably mounted on the pitch arc-shaped moving rail, the third large gear meshes with the third driving gear, the third small gear meshes with the pitch rack, and a second roller that rolls with the pitch raceway is fixedly mounted on the second driven shaft.

[0028] Furthermore, the horizontal rotation angle of the horizontal rotation mechanism is 360°.

[0029] The maximum swing angle of the left-right rotation mechanism on either side of the absolute vertical center axis of the seat assembly is 30°.

[0030] The maximum swing angle of the pitch and rotation mechanism on both sides of the absolute vertical centerline of the seat assembly is 30°.

[0031] Furthermore, the two ends of the left and right arc-shaped racks are provided with first limiting protrusions, which are used to prevent the second pinion from disengaging from the left and right arc-shaped racks.

[0032] Furthermore, the pitch rack has second limiting protrusions at both ends, which are used to prevent the third pinion from disengaging from the pitch rack.

[0033] Furthermore, the first motor is an AC motor, while the second and third motors are both DC motors.

[0034] The technical advantages of this invention are as follows:

[0035] 1. This device is designed with the human body's self-perception of posture and balance limits in mind, and its functions are limited accordingly. It allows for 360° full rotation in the horizontal direction to meet the needs of VR immersive experiences. In the left-right and pitch directions, the maximum swing angle of the seat components relative to the absolute vertical axis is limited to within 30°. This provides rich haptic simulation effects while effectively avoiding dizziness, discomfort, and safety risks associated with full-angle rotation (especially when the body is inverted). It also significantly reduces the large torque generated by significant shifts in the center of gravity, thus reducing motor power requirements and overall energy consumption.

[0036] 2. The left-right rotation mechanism and the pitch rotation mechanism adopt a highly integrated modular design, integrating the motor, transmission components (drive gear, double gear, roller), and control components onto the arc-shaped moving rail. This avoids the use of traditional complex gearboxes, resulting in a compact structure, light weight, and no need for complex external wiring harnesses, making it easy to disassemble and maintain, and ideal for home use. The horizontal rotation mechanism, on the other hand, uses an AC motor to achieve continuous and stable 360° rotation, balancing performance and cost.

[0037] 3. The tapered bearing assembly in the horizontal rotation mechanism simultaneously achieves the dual functions of large-angle rotational transmission and vertical load-bearing support. Through the cooperation of the internal gear ring, the tapered cage (with tapered rollers) and the external gear ring, while ensuring high load-bearing capacity and rotational stability, the size and weight of the mechanism are significantly reduced, and the overall rigidity and reliability of the equipment are improved.

[0038] 4. All three rotational degrees of freedom employ direct motor drive combined with gear-rack transmission (double-stage gear reduction in the horizontal direction), along with symmetrical double rack and roller support structures in the left-right and pitch directions, achieving precise motion, rapid response, and smooth operation. The design of the limiting protrusions further ensures the safety boundaries of the mechanism's movement. Attached Figure Description

[0039] To more clearly illustrate the technical solutions in the embodiments of the present invention, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0040] Figure 1 This is a perspective view of a three-axis rotational auxiliary device for use with VR according to the present invention;

[0041] Figure 2 This is a front view of a three-axis rotational auxiliary device for use with VR according to the present invention;

[0042] Figure 3 An axial diagram with a human figure as the primary reference point;

[0043] Figure 4 This is a diagram showing the components of a horizontal rotating mechanism;

[0044] Figure 5 This is a diagram showing the composition of a tapered bearing assembly.

[0045] Figure 6 This is a diagram showing the components of the left-right rotating mechanism;

[0046] Figure 7 This is a bottom side view of a three-axis rotary auxiliary device;

[0047] Figure 8 The diagram shows the structure of the horizontal rotation mechanism, the left-right rotation mechanism, and the pitch rotation mechanism.

[0048] Explanation of reference numerals in the attached figures:

[0049] Horizontal rotating mechanism 100, first motor 110, first output gear 111, first double gear 120, first large gear 121, first small gear 122, tapered bearing assembly 130, internal gear ring 131, first gear ring 131a, retaining ring 131b, tapered cage 132, tapered tube 132a, tapered roller 132b, external gear ring 133, horizontal turntable 140;

[0050] Left and right rotating mechanism 200, left and right arc-shaped fixed rail 210, left and right rail base 211, C-shaped rail 212, left and right rack 212a, left and right raceway 212b, circular shallow groove 213, left and right arc-shaped moving rail 220, left and right drive system 230, second motor 231, second motor output shaft 231a, second driving gear 232, second double gear 233, second large gear 233a, second small gear 233b, first driven shaft 234;

[0051] Pitch rotation mechanism 300, pitch drive system 310, third motor 311, third drive gear 312, third double gear 313, second driven shaft 314, second roller, first limiting protrusion, and second limiting protrusion.

[0052] Seat assembly 400. Detailed Implementation

[0053] In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the invention. However, it will be apparent to those skilled in the art that the invention can be practiced without one or more of these details. In other instances, certain technical features well-known in the art have not been described in order to avoid obscuring the invention.

[0054] To fully understand this invention, detailed steps and structures will be presented in the following description to illustrate the technical solution of this invention. Preferred embodiments of the invention are described in detail below; however, in addition to these detailed descriptions, the invention may have other embodiments.

[0055] like Figure 1 and Figure 2 As shown, the present invention provides a three-axis rotation assistive device for VR, including a bracket. The three-axis rotation assistive device includes a three-axis rotation mechanism mounted on the bracket and a seat assembly 400 mounted on the three-axis rotation mechanism. The three-axis rotation mechanism drives the seat assembly 400 to achieve three-axis rotation in space, thereby providing VR users with a more immersive haptic experience.

[0056] The three-axis rotation mechanism includes a horizontal rotation mechanism 100, a left-right rotation mechanism 200, and a pitch rotation mechanism 300. These three mechanisms are arranged in a nested, hierarchical structure. The horizontal rotation mechanism 100 is at the bottom layer and is responsible for overall horizontal rotation; the left-right rotation mechanism 200 is mounted on top of the horizontal rotation mechanism and is responsible for left-right oscillation; the pitch rotation mechanism 300 is mounted on top of the left-right rotation mechanism and is responsible for forward-backward pitch oscillation. The three mechanisms work together to enable flexible rotation of the seat assembly 400 in three-dimensional space.

[0057] Horizontal rotating mechanism 100 (see Figure 4 and Figure 7 The system includes a first motor 110, a first double gear 120, and a tapered bearing assembly 130, which are connected in sequence. The first output gear 111 of the first motor 110 meshes with the first double gear 120, and the first double gear 120 meshes with the teeth on the outer ring of the tapered bearing assembly 130. A horizontal turntable 140 is fixed to the top of the tapered bearing assembly 130. The first motor 110 drives the left-right rotation mechanism 200 to rotate horizontally around the vertical axis via the first double gear 120, thereby driving the left-right rotation mechanism 200, the pitch rotation mechanism 300, and the seat assembly 400 above it to achieve a 360° horizontal rotation. This horizontal rotation mechanism uses a large-diameter tapered bearing assembly, which can bear a large load and ensure the smoothness and rigidity of the rotation process.

[0058] like Figure 5 As shown, the tapered bearing assembly 130 includes an internal gear ring 131, a tapered cage 132, and an external gear ring 133. The tapered cage 132 is disposed between the internal gear ring 131 and the external gear ring 133, and has a tapered tube 132a. A plurality of tapered rollers 132b are evenly arranged circumferentially on the outer wall of the tapered tube 132a, thereby forming a tapered rolling bearing structure with high load-bearing capacity.

[0059] The internal gear ring 131 consists of an integrally formed first gear ring 131a and a fixed ring 131b. The first gear ring 131a meshes with the first pinion 122 of the first double gear 120, and the fixed ring 131b is fixedly connected to the horizontal turntable 140. The first double gear 120 includes a first large gear 121 and a first pinion 122 fixedly connected. The first large gear 121 meshes with the first output gear 111 of the first motor 110. Through this two-stage reduction transmission structure, a large transmission ratio can be achieved, while ensuring sufficient output torque and smooth rotation.

[0060] Left and right rotating mechanism 200 (see) Figure 6 and Figure 8The system includes left and right arc-shaped fixed rails 210, left and right arc-shaped moving rails 220, and left and right drive systems 230. The left and right arc-shaped fixed rails 210 are fixedly connected to the horizontal turntable 140, and the left and right arc-shaped moving rails 220 are slidably installed within the left and right arc-shaped fixed rails 210. The seat assembly 400 is precisely located at the common center of the left and right arc-shaped fixed rails 210 and the left and right arc-shaped moving rails 220, ensuring that the seat always rotates around the center of gravity of the human body during rotation, reducing dizziness.

[0061] A left and right drive system 230 is installed on the left and right arc-shaped moving rails 220 to drive the left and right arc-shaped moving rails 220 to slide in the left and right direction within the left and right arc-shaped fixed rails 210, thereby driving the pitch and rotation mechanism 300 and the seat assembly 400 to swing left and right.

[0062] Specifically, the left and right arc-shaped guide rails 210 include left and right track bases 211 and C-shaped tracks 212 fixed on the left and right track bases 211. A shallow circular groove 213 is provided at the center of the bottom of the left and right track bases 211, and the tapered bearing assembly 130 is installed in the shallow circular groove 213. The horizontal turntable 140 is fixedly connected to the bottom of the shallow circular groove 213. The inner ring of the C-shaped track 212 is provided with left and right directional racks 212a and left and right directional raceways 212b along the circumferential direction.

[0063] The left and right drive system 230 is mounted on the left and right arc-shaped moving rails 220 and includes a second motor 231, a second drive gear 232, and a second double gear 233. The second double gear 233 has a second large gear 233a and a second small gear 233b fixedly connected. The second motor 231 is fixedly mounted on the left and right arc-shaped moving rails 220, the second drive gear 232 is fixedly mounted on the output shaft 231a of the second motor, and the second double gear 233 is rotatably mounted on the first driven shaft 234. The second large gear 233a meshes with the second drive gear 232, and the second small gear 233b meshes with the left and right rack 212a. A first roller that rolls with the left and right raceway 212b is also fixedly mounted on the first driven shaft 234, thereby achieving an organic combination of drive and support.

[0064] Furthermore, the left and right arc-shaped guide rails 210 are provided with two left and right racks 212a located on the front and rear sides of the left and right raceways 212b, respectively, and the inner ring height of the left and right raceways 212b is higher than that of the left and right racks 212a. The left and right drive system 230 is correspondingly provided with two sets of second drive gears 232 and two sets of second double gears 233 symmetrically distributed about the left and right raceways. This symmetrical arrangement can effectively balance the force and improve the smoothness and reliability of the left and right swinging process.

[0065] The pitch rotation mechanism 300 includes a pitch arc-shaped fixed rail, a pitch arc-shaped moving rail, and a pitch drive system 310. The pitch arc-shaped fixed rail is fixedly connected to the left and right arc-shaped moving rails 220, and the pitch arc-shaped moving rails are coaxially rotatably mounted within the pitch arc-shaped fixed rail. The seat assembly 400 is located at the center of the pitch arc-shaped fixed rail and the pitch arc-shaped moving rail. The pitch drive system 310 drives the pitch arc-shaped moving rail to pitch and rotate within the pitch arc-shaped fixed rail, thereby causing the seat assembly 400 to achieve forward and backward pitch swing. The seat assembly 400 is fixedly mounted on the pitch arc-shaped moving rail.

[0066] The pitch drive system 310 has a structure similar to the left and right drive system, including a third motor 311, a third drive gear 312, and a third double gear 313. The third double gear 313 has a fixedly connected third large gear and a third small gear, which mesh with the pitch rack and cooperate with the second roller 315 to roll on the pitch raceway, achieving smooth pitch motion. The third double gear 313 is rotatably mounted on the second driven shaft 314, which is rotatably mounted on the pitch arc-shaped moving rail.

[0067] In one optional embodiment, the horizontal rotation mechanism 100 has a horizontal rotation angle of 360°; the left-right rotation mechanism 200 has a maximum swing angle of 30° on both sides of the absolute vertical central axis of the seat assembly 400; and the pitch rotation mechanism 300 has a maximum swing angle of 30° on both sides of the absolute vertical central axis of the seat assembly 400. This angle design fully considers human comfort and balance, providing a rich sensory experience while effectively avoiding discomfort or safety risks caused by large-angle rotation.

[0068] In an optional embodiment, first limiting protrusions are provided at both ends of the left and right arc-shaped racks to prevent the second pinion 233b from disengaging from the left and right arc-shaped racks; second limiting protrusions are provided at both ends of the pitch rack to prevent the third pinion from disengaging from the pitch rack, thereby ensuring the safety of the mechanism operation.

[0069] In an optional embodiment, the first motor 110 is an AC motor to provide continuous and stable horizontal rotational power; the second motor 231 and the third motor 311 are both DC motors, which facilitates rapid response and precise control of the swaying motion in the left, right and pitch directions.

[0070] This invention achieves a compact, flexible, and easy-to-control three-axis motion simulation effect through the ingenious combination of the above-mentioned three-axis rotation mechanism. It is especially suitable for use with VR headsets, bringing users a more realistic and natural immersive experience.

[0071] The preferred embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and the devices and structures not described in detail should be understood as being implemented in a conventional manner in the art. Any person skilled in the art can make many possible variations and modifications to the technical solutions of the present invention using the methods and techniques disclosed above, or modify them into equivalent embodiments with equivalent changes, without departing from the scope of the present invention. This does not affect the essential content of the present invention. Therefore, any simple modifications, equivalent changes, and modifications made to the above embodiments based on the technical essence of the present invention without departing from the content of the present invention's technical solutions still fall within the protection scope of the present invention.

Claims

1. A three-axis rotational auxiliary device for use with VR, comprising a support frame, characterized in that, The three-axis rotation auxiliary device includes a three-axis rotation mechanism mounted on a bracket and a seat assembly mounted on the three-axis rotation mechanism. The three-axis rotation mechanism drives the seat assembly to perform three-axis spatial rotation. The three-axis rotation mechanism includes a horizontal rotation mechanism, a left-right rotation mechanism, and a pitch rotation mechanism; The horizontal rotation mechanism includes a first motor, a first double gear, and a tapered bearing assembly connected in sequence. The first output gear of the first motor meshes with the first double gear, and the first double gear meshes with the teeth on the outer ring of the tapered bearing assembly. A horizontal turntable is fixed on the top of the tapered bearing assembly. The first motor drives the left and right rotation mechanism to rotate through the first double gear, thereby driving the left and right rotation mechanism, the pitch rotation mechanism, and the seat assembly to rotate horizontally. The left and right rotation mechanism includes left and right arc-shaped fixed rails, left and right arc-shaped moving rails, and left and right drive systems. The left and right arc-shaped fixed rails are fixedly connected to the horizontal turntable, and the left and right arc-shaped moving rails are slidably installed inside the left and right arc-shaped fixed rails. The seat assembly is located at the center of the left and right arc-shaped fixed rails and the left and right arc-shaped moving rails. The left and right arc-shaped moving rails are equipped with left and right drive systems for driving the left and right arc-shaped moving rails to slide left and right inside the left and right arc-shaped fixed rails, thereby driving the pitch rotation mechanism and the seat assembly to swing left and right. The pitch rotation mechanism includes a pitch arc fixed rail, a pitch arc moving rail, and a pitch drive system. The pitch arc fixed rail is fixedly connected to the left and right arc moving rails. The pitch arc moving rail is coaxially rotatably installed inside the pitch arc fixed rail. The seat assembly is located at the center of the pitch arc fixed rail and the pitch arc moving rail. The pitch drive system is installed on the pitch arc fixed rail to drive the pitch arc moving rail to pitch and rotate within the pitch arc fixed rail, thereby causing the seat assembly to pitch and swing. The seat assembly is fixedly installed on the pitch arc moving rail.

2. The device according to claim 1, characterized in that: The tapered bearing assembly includes an internal gear ring, a tapered cage, and an external gear ring. A tapered retainer is positioned between the inner and outer gear rings. The tapered retainer has a tapered tube, and several tapered rollers are arranged circumferentially on the outer wall of the tapered tube. The internal gear ring consists of an integrally formed first gear ring and a fixed ring. The first gear ring meshes with the first double gear, and the fixed ring is fixedly connected to the horizontal turntable. The first double gear has a first large gear and a first small gear that are fixedly connected. The first large gear meshes with the first output gear of the first motor, and the first small gear meshes with the first gear ring.

3. The device according to claim 2, characterized in that: The left and right arc-shaped rails are provided with left and right rail bases and C-shaped rails fixed on the left and right rail bases. The bottom center of the left and right rail bases is provided with a circular shallow groove. The conical bearing assembly is located in the circular shallow groove. The horizontal turntable is fixedly connected to the bottom of the circular shallow groove of the left and right arc-shaped rails. The inner ring of the C-shaped track is provided with left and right racks and left and right raceways along the circumferential direction; The left and right drive system is mounted on the left and right arc-shaped moving rails. The left and right drive system includes a second motor, a second drive gear, and a second double gear. The second double gear has a second large gear and a second small gear that are fixedly connected. The second motor is fixedly mounted on the left and right arc-shaped moving rails. The second driving gear is fixedly mounted on the output shaft of the second motor. The second double gear is rotatably mounted on the first driven shaft. The first driven shaft is rotatably mounted on the left and right arc-shaped moving rails. The second large gear meshes with the second driving gear, and the second small gear meshes with the left and right racks. A first roller that rolls with the left and right raceways is fixedly mounted on the first driven shaft.

4. The device according to claim 3, characterized in that: The left and right arc-shaped guide rails are equipped with two left and right racks located on the front and rear sides of the left and right raceways respectively. The inner ring height of the left and right raceways is higher than that of the left and right racks. The left and right drive system is equipped with two sets of second drive gears and two sets of second double gears symmetrical about the left and right raceways. The two sets of second drive gears are fixedly mounted on the output shaft of the second motor, and the two sets of second double gears are rotatably mounted on the first driven shaft. The two sets of second drive gears respectively cooperate with the two sets of second double gears. The two second pinions of the two sets of second double gears respectively mesh with two left and right racks. The roller is located between the two second pinions.

5. The device according to claim 3, characterized in that: The pitch arc-shaped fixed rail is equipped with a pitch rack and a pitch raceway; The pitch drive system is mounted on the pitch arc-shaped moving rail. The pitch drive system includes a third motor, a third drive gear, and a third double gear. The third double gear has a third large gear and a third small gear that are fixedly connected. The third motor is fixedly mounted on the pitch arc-shaped moving rail, the third driving gear is fixedly mounted on the output shaft of the third motor, the third double gear is rotatably mounted on the second driven shaft, the second driven shaft is rotatably mounted on the pitch arc-shaped moving rail, the third large gear meshes with the third driving gear, the third small gear meshes with the pitch rack, and a second roller that rolls with the pitch raceway is fixedly mounted on the second driven shaft.

6. The device according to claim 3, characterized in that: The horizontal rotation angle of the horizontal rotating mechanism is 360°. The maximum swing angle of the left-right rotation mechanism on either side of the absolute vertical center axis of the seat assembly is 30°. The maximum swing angle of the pitch and rotation mechanism on both sides of the absolute vertical centerline of the seat assembly is 30°.

7. The device according to claim 3, characterized in that: The left and right arc-shaped racks are provided with first limiting protrusions at both ends. The first limiting protrusions are used to prevent the second pinion from disengaging from the left and right arc-shaped racks.

8. The device according to claim 5, characterized in that: The pitch rack has second limiting protrusions at both ends, which are used to prevent the third pinion from disengaging from the pitch rack.

9. The device according to claim 5, characterized in that: The first motor is an AC motor, while the second and third motors are both DC motors.

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