Abstract:
An energy harnessing device for harnessing wave energy that results in pitch, sway, yaw, surge, roll, and heave movement, wherein the device effectively converts multiaxial translational and rotational motion to unidirectional rotational motion for power transmission.

Description:
CROSS-REFERENCE TO RELATED APPLICATIONS 
       [0001]    This application claims the benefit and priority of Indian Provisional Application No. 201641017034, filed May 17, 2016, and Indian Provisional Application No. 201641030185, filed Sep. 3, 2016. The entire disclosure of each of the above applications is incorporated herein by reference. 
       FIELD 
       [0002]    The present disclosure relates to energy harvesting devices and, more particularly, relates to an energy harvesting device that converts multiaxial translational and rotational motion to unidirectional rotational motion. 
       BACKGROUND AND SUMMARY 
       [0003]    This section provides background information related to the present disclosure which is not necessarily prior art. This section also provides a general summary of the disclosure, and is not a comprehensive disclosure of its full scope or all of its features 
         [0004]    Global warming is a household phrase today and does not require any additional explanation or discussion. Nations are willing to spend billions to stop global warming at current levels and not worsen the situation. A great focus is on developing unconventional or renewable energy sources. Unmistakably, the Solar and Wind Energy technologies have progressed significantly that a great emphasis is laid on exploiting these sources. Wave and Tidal energy are still in the initial development stages and it is only a few countries in Europe and the USA that are devoting resources to exploit them. 
         [0005]    Solar energy is available only during the day time and lack of energy storage devices pose as a significant disadvantage. The sun energy is at the lowest during the daybreak, peaks at noon and wanes to low levels at sunset. During the day, average solar energy supply increases to a peak then decreases and does not remain constant. When solar energy decreases to low levels during the day or when it drops to zero during the night, alternate energy sources must be available to keep up with the demand. Harnessing solar power requires substantial capital and above that additional investment is required to maintain and establish alternate sources to match demand when the sun recedes. Moreover countries farther away from the equator do not qualify as potential candidates. 
         [0006]    Likewise, wind energy is seasonal. Even during windy seasons, wind does not remain constant and varies periodically. Similar to Solar Energy, Wind Energy systems also require investment in stand-by sources to keep up with the demand when the winds slow down or drop to insignificant levels. 
         [0007]    On the other hand, wave energy, when compared to the other two, is more reliable. Over a wider time period a reasonably unceasing wave power supply can be expected. The energy variations are, however, not as significant as Solar and Wind Energy. But in shorter time intervals (in minutes and seconds) Wave Power fluctuates momentarily. This requires a wave power absorption and conversion system that can store momentary peak power and release for supplementation during momentary periods of low power. The Wave Power industry today stores this momentary excess energy in a battery as electrical energy or in a pressure vessel as pressure energy. The stored energy is utilized within short periods of time (minutes or seconds) and do not necessitate long term (in hours or days) storage. The present wave energy conversion devices either directly run an electric generator that stores electric energy in battery banks or operates a hydraulic motor that stores pressure energy in pressure vessels. The stored pressure is then released at a constant rate to run a hydraulic turbine/motor coupled to an electric generator. 
         [0008]    A problem faced by the Wave Power Industry is sudden strikes by higher intensity waves. During a given time period, kinetic forces associated with each wave is predominantly constant. However, it is not uncommon to observe a wave break with very less force or on the contrary one with much higher magnitude of force. This requires the Wave Energy Absorption and Conversion system to be adequately designed for waves with the higher magnitude to avoid structural failures. 
         [0009]    In conventional systems or apparatus that absorb and convert wave energy, only one or two of the ocean movements (pitch, sway, yaw, surge, roll and heave) are absorbed or converted (see  FIGS. 1B and 1C ). The forces associated with the other remaining motions are not absorbed and hence the apparatus is required to structurally withstand these forces. As these non-absorbed forces strike from different directions the apparatus requires considerable strengthening in all dimensions to withstand the resultant stresses. To increase the strength material selection and higher yield strengths will help to an extent. Beyond which the size will require an increase. Increased size will expose more surface area to the ocean movement that result in higher forces and thus the designer faces a vicious circle. Ultimately a bulky, heavy, hard to handle, expensive structure is required to absorb and convert relatively low power. 
         [0010]    In reality, a free floating device made of resilient material left on the ocean water surface that is not tied up, fixed, or moored will float, pitch, sway, yaw, surge, roll, and heave with the waves. The stress experienced by this device is not significant and is mainly due to its own weight and geometry. Let this floating device be attached to a structural member (a beam, shaft, arm, etc.) to actuate a device (electric generator or pressure pump) to absorb or convert the energy transferred to the floating device by the waves. If the member is allowed freedom of motion only in the “Y” direction to absorb heave motion, then when other motions like sway, pitch, surge, etc. accompany the heave motion this member has to perform two functions—one to convey the heave motion to the device for absorption and conversion of the heave forces and other to hold the floating device in place by withstanding the unused forces caused by motions associated with sway, pitch, surge etc. This results in other complex forces like bending, shear, torsion etc. that this member has to withstand. 
         [0011]    This disadvantage is eliminated or reduced significantly by the system of the present teachings, which is capable of absorbing forces associated with all ocean motions, including pitch, sway, yaw, surge, roll, and heave. The forces generated on the system will be equal to resistance offered by the hydraulic pump or the electrical generator. 
         [0012]    Additionally, all these multi-directional forces are absorbed and focused into a one directional rotational motion. This eliminates the requirement to design the structure for all types of multi directional forces. The structure will experience forces equal to resistance offered by the hydraulic pump or the electrical generator. The principle component of this system will be the gear box which will be designed to absorb all types of forces associated with all motions of the ocean. The maximum forces applied on the gear box will only equal to the resistance offered by the hydraulic pump or the electrical generator. The primary function of the structure is only to support the gear box. 
         [0013]    The gear box can be scaled up or down based on the power requirement dictated by the specifications of the selected electrical generator or hydraulic motor. The size and strength of the structure will be designed simply to support the gear box. 
         [0014]    Further areas of applicability will become apparent from the description provided herein. The description and specific examples in this summary are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. 
     
    
     
       DRAWINGS 
         [0015]    The drawings described herein are for illustrative purposes only of selected embodiments and not all possible implementations, and are not intended to limit the scope of the present disclosure. 
           [0016]      FIG. 1A  represents rotational and directional classification according to the present disclosure. 
           [0017]      FIG. 1B  illustrates translational motions of waves. 
           [0018]      FIG. 1C  illustrates rotational motions of waves. 
           [0019]      FIG. 2  illustrates a front view of an energy harvesting device according to the principles of the present teachings. 
           [0020]      FIG. 3  illustrates a plan view of the energy harvesting device according to the principles of the present teachings. 
           [0021]      FIG. 4  illustrates a side view of the energy harvesting device according to the principles of the present teachings. 
           [0022]      FIG. 5  illustrates a first perspective view of the energy harvesting device according to the principles of the present teachings. 
           [0023]      FIG. 6  illustrates a second perspective view of the energy harvesting device according to the principles of the present teachings. 
           [0024]      FIG. 7  illustrates an exploded view of the shafts S 0  and S 1  according to the principles of the present teachings. 
           [0025]      FIG. 8  illustrates the shafts S 0 , S 1 , S 2   a , S 2   b , S 2   c  according to the principles of the present teachings. 
           [0026]      FIG. 9  illustrates a first perspective view of shafts S 0 , S 1 , S 2   a , S 2   b , S 2   c ; bevel gears BG 1 , BG 2 , BG 3 , BG 4 , BG 5 , BG 6 , BG 7 ; and spur gear SG 1  according to the principles of the present teachings. 
           [0027]      FIG. 10  illustrates a second perspective view of shafts S 0 , S 1 , S 2   a , S 2   b , S 2   c ; bevel gears BG 1 , BG 2 , BG 3 , BG 4 , BG 5 , BG 6 , BG 7 ; and spur gear SG 1  according to the principles of the present teachings. 
           [0028]      FIG. 11  illustrates a bottom perspective view of shafts S 0 , S 1 , S 2   a , S 2   b , S 2   c ; bevel gears BG 1 , BG 2 , BG 3 , BG 4 , BG 5 , BG 6 , BG 7 ; and spur gear SG 1  according to the principles of the present teachings. 
           [0029]      FIG. 12  illustrates a perspective view of an upper assembly according to the principles of the present teachings. 
           [0030]      FIG. 13  illustrates a cross sectional view of the upper assembly according to the principles of the present teachings. 
           [0031]      FIG. 14  illustrates a first perspective view of a lower assembly according to the principles of the present teachings. 
           [0032]      FIG. 15  illustrates a second perspective view of the lower assembly according to the principles of the present teachings. 
           [0033]      FIG. 16  illustrates a cross sectional view of the lower assembly according to the principles of the present teachings. 
           [0034]      FIG. 17  illustrates a perspective view of the energy harvesting device with a flywheel and pulley according to the principles of the present teachings. 
           [0035]      FIG. 18  illustrates the energy harvesting device incorporated into a two float deployment system according to the principles of the present teachings. 
           [0036]      FIG. 19  illustrates the energy harvesting device incorporated into a deployment configuration with the gear assembly upside down on the platform according to the principles of the present teachings. 
           [0037]      FIG. 20  illustrates the energy harvesting device incorporated into a deployment configuration with the gear assembly vertical on the platform according to the principles of the present teachings. 
           [0038]      FIGS. 21A and 21B  illustrate the energy harvesting device incorporated into a deployment configuration on vehicles and boats, respectively, according to the principles of the present teachings. 
       
    
    
       [0039]    Corresponding reference numerals indicate corresponding parts throughout the several views of the drawings. 
       DETAILED DESCRIPTION 
       [0040]    Example embodiments will now be described more fully with reference to the accompanying drawings. 
         [0041]    Example embodiments are provided so that this disclosure will be thorough, and will fully convey the scope to those who are skilled in the art. Numerous specific details are set forth such as examples of specific components, devices, and methods, to provide a thorough understanding of embodiments of the present disclosure. It will be apparent to those skilled in the art that specific details need not be employed, that example embodiments may be embodied in many different forms and that neither should be construed to limit the scope of the disclosure. In some example embodiments, well-known processes, well-known device structures, and well-known technologies are not described in detail. 
         [0042]    The terminology used herein is for the purpose of describing particular example embodiments only and is not intended to be limiting. As used herein, the singular forms “a,” “an,” and “the” may be intended to include the plural forms as well, unless the context clearly indicates otherwise. The terms “comprises,” “comprising,” “including,” and “having,” are inclusive and therefore specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. The method steps, processes, and operations described herein are not to be construed as necessarily requiring their performance in the particular order discussed or illustrated, unless specifically identified as an order of performance. It is also to be understood that additional or alternative steps may be employed. 
         [0043]    When an element or layer is referred to as being “on,” “engaged to,” “connected to,” or “coupled to” another element or layer, it may be directly on, engaged, connected or coupled to the other element or layer, or intervening elements or layers may be present. In contrast, when an element is referred to as being “directly on,” “directly engaged to,” “directly connected to,” or “directly coupled to” another element or layer, there may be no intervening elements or layers present. Other words used to describe the relationship between elements should be interpreted in a like fashion (e.g., “between” versus “directly between,” “adjacent” versus “directly adjacent,” etc.). As used herein, the term “and/or” includes any and all combinations of one or more of the associated listed items. 
         [0044]    Although the terms first, second, third, etc. may be used herein to describe various elements, components, regions, layers and/or sections, these elements, components, regions, layers and/or sections should not be limited by these terms. These terms may be only used to distinguish one element, component, region, layer or section from another region, layer or section. Terms such as “first,” “second,” and other numerical terms when used herein do not imply a sequence or order unless clearly indicated by the context. Thus, a first element, component, region, layer or section discussed below could be termed a second element, component, region, layer or section without departing from the teachings of the example embodiments. 
         [0045]    Construction 
         [0046]    According to the principle of the present teachings, as illustrated in  FIGS. 2-17 , a device is provided for harnessing wave energy wherein multi-directional forces are absorbed and focused into a one directional rotational motion. For description purpose, ( FIG. 1A ) the X axis is considered horizontal (parallel to the upper and lower edge of this page), Y axis is vertical (parallel to the left and right edge of this page) and the Z axis is normal to the XY plane. Rotation of components with axes parallel to the X axis will be considered clockwise or counter-clockwise when looking from left to right. For components with axes parallel to the Y axis, rotational direction clockwise or counter-clockwise will be determined when looking from top to bottom. Likewise, for components with axes that intersects the XY plane, the direction of rotation will be determined as when looking towards the XY plane along the respective axis. 
         [0047]    Spatially relative terms, such as “inner,” “outer,” “beneath,” “below,” “lower,” “above,” “upper,” and the like, may be used herein for ease of description to describe one element or feature&#39;s relationship to another element(s) or feature(s) as illustrated in the figures. Spatially relative terms may be intended to encompass different orientations of the device in use or operation in addition to the orientation depicted in the figures. For example, if the device in the figures is turned over, elements described as “below” or “beneath” other elements or features would then be oriented “above” the other elements or features. Thus, the example term “below” can encompass both an orientation of above and below. The device may be otherwise oriented (rotated 90 degrees or at other orientations) and the spatially relative descriptors used herein interpreted accordingly. 
         [0048]    With reference to  FIGS. 2-21B , in some embodiments, Housing Plates M 2   a  and M 2   c  are parallel to each other and perpendicular to the XZ plane. Housing Plates M 2   b   1  and M 2   d  are parallel to the XZ plane. Housing M 2   b   1  is attached to the bottom face of Housing Plates M 2   a  and M 2   c . The Housing Plates M 2   b   1  and M 2   d  will always lie on the horizontal XZ plane. Housing Plates M 2   a  and M 2   c  are always perpendicular to the XZ plane. The Housing Plates M 2   a , M 2   b   1  and M 2   c  together as a single unit can rotate about the Y axis. The central circular hole through Plate M 2   b   1  and M 2   d  has an axis that passes through the Point of Origin O and is parallel to the Y axis. 
         [0049]    The centre point and the point of Origin O is the intersection point of the axis of Shaft S 1  and Shaft S 2   b . Shaft S 2   a , S 2   b , and S 2   c  are attached together with S 2   b  being in the centre, S 2   a  on the left and S 2   c  on the right. They share the same axis and are parallel to the XZ plane. The free end of Shaft S 2   a  is supported by the Bushing BU 1  situated on Housing M 2   a . The free end of Shaft S 2   c  is supported by the Bushing BU 2  situated on Housing M 2   c . Housing M 2   a  and M 2   c  support the Shafts S 2   a , S 2   b  and S 2   c . Shaft S 2   a , S 2   b  and Shaft S 2   c  rotate in unison as they are attached together. 
         [0050]    On Shaft S 2   a  between Housing M 2   a  and Shaft S 2   b  a Bevel Gear BG 3  is mounted such that the teeth of BG 3  face the left side of Shaft S 2   b . A Bushing BU 3  is provided on the ID surface of Bevel Gear BG 3  to reduce rotational friction. Bevel Gear BG 3  can rotate independently on Shaft S 2   a . The hub faces of Bevel Gears BG 4  and BG 5  are attached to each other such that they rotate in unison. The assembly of Bevel Gears BG 4  and BG 5  are mounted on Shaft S 2   c  such that the teeth of Bevel Gear BG 4  face the right side of Shaft S 2   b . A Bushing BU 4  is provided on the ID surface of Bevel Gears BG 4  and BG 5  to reduce rotational friction. Bevel Gears BG 4  and BG 5  can rotate together and independently on Shaft S 2   c.    
         [0051]    A Regular Bearing RB 1  is positioned in the central cylindrical opening of Shaft S 2   b . The Input Shaft S 1  passes through the Regular Bearing RB 1  in the central cylindrical opening of Shaft S 2   b  and can rotate independently about its own axis. The Input Shaft S 1  is along the z axis in the neutral position for illustration, however it can move around in different directions. The axis of Shaft S 1  passes through the point of origin O. One end of the shaft which is the driving end is farthest from the device. The driving end of Input Shaft S 1  can be moved up and down (along y axis), moved sideways (along x axis), moved obliquely (combination of x and y axis) and rotated about its axis. When the driving end is moved the axis of the input shaft can assume any position that cuts through the x y plane through the point of origin O. 
         [0052]    A One Way Bearing OWB 1  is mounted on the Input Shaft S 1  facing the front side of Shaft S 2   b . The Bevel Gear BG 1  is mounted on the One Way Bearing OWB 1  such that it engages with Bevel Gears BG 3  and BG 4  on the front side of Shaft S 2   b . The orientation of OWB 1  is such that when Shaft S 1  is rotated counter-clockwise it imparts counter-clockwise rotation to Bevel Gear BG 1 . During clockwise rotation of Shaft S 1  no rotation is imparted to BG 1 . Bevel Gear BG 1  when rotated counter-clockwise cannot impart any rotation to Shaft S 1  but when rotated clockwise it can impart rotation to Shaft S 1  in the clockwise direction. Similarly, another One Way Bearing OWB 2  is mounted on the Input Shaft S 1  facing the rear side of Shaft S 2   b . The Bevel Gear BG 2  is mounted on the One Way Bearing OWB 2  such that it engages with Bevel Gears BG 3  and BG 4  on the rear side of Shaft S 2   b . The orientation of OWB 2  is such that when Shaft S 1  is rotated clockwise it imparts clockwise rotation to Bevel Gear BG 2 . During counter-clockwise rotation of Shaft S 1  no rotation is imparted to BG 2 . Bevel Gear BG 2  when rotated clockwise cannot impart any rotation to Shaft S 1  but when rotated counter-clockwise it can impart rotation to Shaft S 1  in the counter-clockwise direction. The axis of Bevel Gear BG 1  and BG 2  and the axis of Bevel Gear BG 3  and BG 4  are perpendicular to each other and intersect at their centre points, which is also the point of origin O. The four Bevel Gears BG 1 , BG 2 , BG 3  and BG 4  mesh together and rotate in unison. BG 1  and BG 2  rotate along its axis and also revolve about the axes of Bevel Gears BG 3  and BG 4 . When the driving end of Input Shaft S 1  is moved up and down along the y axis, Bevel Gears BG 1  and BG 2  makes a planetary motion around gears BG 3  and BG 4 . Similarly when the Input Shaft S 1  is moved left and right, the Shafts S 2   a , S 2   b  and S 2   c  also revolve about the Y axis along with the Housing plates M 2   a , M 2   b   1  and M 2   c.    
         [0053]    The input Shaft S 1  has a Helical Groove M 3  machined on its surface at the driving end. A Hollow Actuator Shaft S 0  has a Key M 1  protruding out of its ID surface. The Shaft S 1  is inserted into the Hollow Actuator Shaft S 0  such that the Key M 1  rides in the Helical Groove M 3  machined on the outer surface of Shaft S 1 . When the Hollow Actuator Shaft S 0  is rotated due to rolling motion of the waves about the axis of Shaft S 0  and S 1 , the Key M 1  will impart rotary motion to the Helical Groove M 3  thus turning the Input Shaft S 1 . When the Hollow Actuator Shaft S 0 , is reciprocated due to surge motions of the waves along the axis of Shaft S 1 , the Key M 1  will slide through the groove M 3  imparting rotary motion to the Helical Groove M 3  thus turning the Input Shaft S 1 . Moving the Actuator Hollow Shaft S 0  towards or away from Bevel Gears will impart clockwise or counter-clockwise rotation, respectively to Shaft S 1 . 
         [0054]    The One Way Bearing OWB 3  is mounted on Shaft S 2   c  between the teeth of Bevel Gear BG 5  and the Housing Plate M 2   c . The Bevel Gear BG 6  is mounted on the One way Bearing OWB 3  such that the teeth of BG 6  face the teeth of BG 5 . The orientation of the One Way Bearing OWB 3  is such that when Shaft S 2   c  rotates in the clockwise direction it imparts clockwise rotation to Bevel Gear BG 6 . When Shaft S 2   c  rotates in the counter-clockwise direction no torque is imparted to Bevel Gear BG 6 . Bevel Gear BG 6  when rotated clockwise cannot impart any rotation to Shaft S 2   c  but when rotated counter-clockwise it can impart rotation to Shaft S 2   c  in the counter-clockwise direction. Bevel Gears BG 5  and BG 6  face each other. A Hollow Shaft S 3  is assembled on Housing plate M 2   b   1  such that it is perpendicular to Plate M 2   b   1  and also perpendicular to the axis of Shaft S 2   c . Furthermore, Shaft S 3  exists above and below Housing Plate M 2   b   1  and is also below Shaft S 2   c . The axis of Shaft S 3  when extend upwards intersect with the axis of Shaft S 2   c  at right angle. The axis of Shaft S 3  is equidistant from the faces of Bevel Gears BG 5  and BG 6 . Above plate M 2   b   1  and surrounding Shaft S 3  a cylindrical Housing M 2   b   2  is provided. Cylindrical Housing M 2   b   2  is fixed/bolted to Plate M 2   b   1 . A Bushing BU 4  is provided on the ID surface of Housing M 2   b   2  to allow free rotation of Shaft S 3 . Shaft S 3  can rotate freely inside Housing M 2   b   2 . On the upper end of Shaft S 3 , the Bevel gear BG 7  is keyed such that BG 7  mates with both Bevel gears BG 5  and BG 6 . On the lower end of Shaft S 3  the Spur Gear SG 1  is keyed. Bevel Gear BG 7 , Shaft S 3  and Spur Gear SG 1  rotate in unison. Between Bevel Gear BG 7  and housing M 2   b   2  a Thrust Bearing TB 1  is provided. A Stopper ST 1  is provided at the lower end of Shaft S 3  to keep Spur Gear SG 1  in position. The Shaft S 3  has a shoulder at the upper end to prevent it from sliding down through Bevel Gear BG 7 . 
         [0055]    The upper end of the Sway and Yaw Shaft S 4  is bolted onto the central cylindrical holes on Housing Plate M 2   b   1 . The lower end of Shaft S 6  is inserted into the Lower Stopper ST 2  which is bolted on to the lower face of the Housing Plate M 2   d . The shoulder on the lower end of Shaft S 6  is located inside the Stopper ST 2 . Inside the Stopper ST 2 , Regular Bearings RB 2  and RB 3  are positioned above and below the shoulder on the lower end of Shaft S 6 . The Stopper ST 2  along with the Regular Bearings RB 2  and RB 3 , Plate M 2   d  and the shoulder on Shaft S 6  ensures Shaft S 6  is held in position and rotates freely. This arrangement allows for Shaft S 6  to rotate about its own axis (Y axis) when the upper Housing Assembly of M 2   a , M 2   b   1  and M 2   d  are rotated as a whole unit about Y axis. 
         [0056]    The Hollow Stepped Unidirectional Final Output Shaft S 5  is slid over upper end of Shaft S 4  such that the section with the smaller diameter is above the section with the larger diameter. Between Shaft S 4  and smaller diameter section of Shaft S 5 , the One Way Bearing OWB 4  is provided. The inner and outer surfaces of OWB 4  are keyed to Shaft S 4  and S 5 , respectively. The orientation of One Way Bearing OWB 4  is such that when Shaft S 4  is rotated clockwise, clockwise rotation is imparted to Shaft S 5 . When Shaft S 4  is rotated counter-clockwise, no rotation is imparted to Shaft S 5 . Similarly when Shaft S 5  is rotated clockwise no rotation is imparted to Shaft S 4 , whereas when Shaft S 5  is rotated counter-clockwise, counter-clockwise rotation is imparted to Shaft S 4 . The Spur Gear SG 2  is keyed on the upper end of Shaft S 5  such that it mates with Spur Gear SG 1 . 
         [0057]    On lower part of Shaft S 4 , across the larger diameter section of Shaft S 5 , the One Way Bearing OWB 5  is provided. On One Way Bearing OWB 5 , the Spur Gear SG 3  is mounted. The inner and outer surfaces of OWB 5  are keyed to Shaft S 4  and Spur Gear SG 3 , respectively. The orientation of the One Way Bearing OWB 5  is such that when Shaft S 4  rotates in the counter-clockwise direction it imparts counter-clockwise rotation to Spur Gear SG 3 . When Shaft S 4  rotates in the clockwise direction no torque is imparted to Spur Gear SG 3 . Spur Gear SG 3  when rotated counter-clockwise cannot impart any rotation to Shaft S 4  but when rotated clockwise it can impart clockwise rotation to Shaft S 4 . The orientations of the One Way Bearings OWB 4  and OWB 5  are opposite to each other. 
         [0058]    On lower end of Shaft S 5 , at the section with the larger diameter an internal Spur Gear SG 5  is provided. Spur Gear SG 5  is keyed to the ID surface of Shaft S 5 . An intermediary vertical stationary Shaft S 6  is assembled on the bottom Housing Plate M 2   d  such that it is parallel to Shaft S 4 . The Idler Spur Gear SG 4  is mounted on Shaft S 6  such that it mates with Spur Gear SG 3  and the internal Spur Gear SG 5 . The Idler Spur Gear SG 4  is driven by Spur Gear SG 3  and SG 4  does not impart any rotation to Shaft S 6 . The small diameter section of Shaft S 5  carries the Flywheel M 4  and the Out Put Pulley M 5 . 
         [0059]    The Hollow Actuator Shaft S 0  and the Input Shaft S 1  is along the z axis for illustration however it can move around in different directions. The axis of Shaft S 1  always passes through the point of origin O. One end of the shaft S 1  which is the driving end is the farthest end from the device. The Hollow Actuator Shaft engages with the driving end of Shaft S 1 . The Helical Groove M 3  at the driving end of Shaft S 1  engages with the Key M 1  of the Actuator Shaft S 0 . 
         [0060]    Rolling Motion 
         [0061]    The Actuator Shaft S 0  is attached to a floating device (see  FIGS. 18-20 ). When the float rolls, Shaft S 0  is rotated about its axis and the Key M 1  on Shaft S 0  turns the Helical Groove M 3  thus imparting rotation to Shaft S 1 . Based on the direction of the floats rolling motion Shaft S 1  will be rotated in the same direction. 
         [0062]    Surging Motion 
         [0063]    Surging motion occurs when the float moves towards or away from the device. When the float moves towards the device, the Actuator Shaft S 0  slides on Shaft S 1  towards the point of origin O. This sliding motion will cause the key M 1  on Shaft S 0  to slide inside the Helical groove M 3  on Shaft S 1 . As the Actuator Shaft S 0  is not rotating with respect to Shaft S 1  and only sliding, the Key M 1  will transmit torque to the Helical Groove M 3  and thus rotate the Shaft S 1 . When the Actuator Shaft S 0  slides on Shaft S 1  towards the point of origin, Shaft S 1  will turn clockwise. When the Actuator Shaft S 0  slides on Shaft S 1  away from the point of origin, Shaft S 1  will turn counter-clockwise. 
         [0064]    Heaving and Pitching Motions 
         [0065]    When the float moves up and down, the Actuator Shaft S 0  also moves up and down. This results in the Shaft S 1  revolving about the axis of Shafts S 2   a , S 2   b  and S 2   c . The axis of Shaft S 1  and S 2   b  are always perpendicular to each other. As the Shaft S 1  passes through Shaft S 2   b  the revolutionary motion is converted as rotation of the Shafts S 2   a , S 2   b  and S 2   c  as one unit about its own axis. 
         [0066]    Sway and Yaw Motions 
         [0067]    When the float moves sideways, the Actuator Shaft S 0  also moves sideways. This results in the Shaft S 1  revolving about Y axis. As Shaft S 1  passes through Shaft S 2   b  the sideways motion is converted as revolution of the Shafts S 2   a , S 2   b  and S 2   c  as one unit about the Y axis. When Shafts S 2   a , S 2   b  and S 2   c  revolve about the Y axis it imparts rotation to the Housing Assembly M 2   a , M 2   b   1  and M 2   c . This will result in Shaft S 6  rotating about its axis (Y axis). 
         [0068]    Motion Capture—Capturing Rolling and Surging Motion 
         [0069]    When the Actuator Shaft S 0  is either rotated by the rolling motion of the waves or reciprocated on Shaft S 1  by the surging motion of the waves, the result is always the rotation of Shaft S 1  either in the clockwise or counter-clockwise direction depending on the direction of the roll or surge. 
         [0070]    When Shaft S 1  is rotated counter-clockwise it sets Bevel Gear BG 1  in counter-clockwise rotation and imparts no torque to Bevel Gear BG 2  due to the orientation of One Way Bearing OWB 1  and OWB 2 . Bevel Gear BG 1  in turn imparts clockwise rotation to Bevel Gear BG 3  and counter-clockwise rotation to Bevel Gear BG 4 . Bevel Gear BG 3  and BG 4  in turn impart clockwise rotation to Bevel Gear BG 2 . Finally due to the orientation of OWB 2 , BG 2  rotates unobstructed on Shaft S 1  in the clockwise direction while the Shaft S 1  and Bevel Gear BG 1  rotate counter-clockwise. 
         [0071]    On the other hand when Shaft S 1  is rotated clockwise it sets Bevel Gear BG 2  in clockwise rotation and imparts no torque to Bevel Gear BG 1  due to the orientation of One Way Bearing OWB 1  and OWB 2 . Bevel Gear BG 1  in turn imparts clockwise rotation to Bevel Gear BG 3  and counter-clockwise rotation to Bevel Gear BG 4 . Bevel Gear BG 3  and BG 4  in turn impart counter-clockwise rotation to Bevel Gear BG 1 . Finally due to the orientation of OWB 1 , BG 1  rotates freely on Shaft S 1  in the counter-clockwise direction while the Shaft S 1  and Bevel Gear BG 2  rotate clockwise. 
         [0072]    Therefore, no matter which direction Shaft S 1  is rotated the four Bevel Gears BG 1 , BG 2 , BG 3  and BG 4  rotate in the counter-clockwise, clockwise, clockwise and counter-clockwise directions, respectively. When Shaft S 1  rotates counter-clockwise BG 1  also rotating counter-clockwise becomes the driving gear and BG 2  rotating clockwise becomes the driven gear. On the other hand, when Shaft S 2  rotates clockwise BG 2  also rotating clockwise becomes the driving gear and BG 1  rotating counter-clockwise becomes the driven gear. 
         [0073]    Clockwise or counter-clockwise rolling motion or the forward or reverse surging motion of the waves will set the Bevel Gear BG 4  in the counter-clockwise direction. As the Bevel Gear BG 4  and BG 5  are attached together, the counter-clockwise rotation of BG 4  will also result in the counter-clockwise rotation of BG 5 . The Bevel Gears BG 4  and BG 5  will freely rotate on Shaft S 2   c  as they are separated by the friction reducing Bushing BU 4 . Bevel Gear BG 5  will in turn rotate Bevel Gear BG 7  in the counter-clockwise direction. Bevel Gear BG 7  will then in turn rotate Bevel Gear BG 6  in the clockwise direction. 
         [0074]    Therefore Roll or Surge motions in any direction will set Bevel Gear BG 7  in the counter-clockwise direction. As the Bevel Gear BG 7  and Spur Gear SG 1  are keyed to Shaft S 3 , the counter-clockwise rotation of BG 7  will also result in the counter-clockwise rotation of Spur Gear SG 1 . The counter-clockwise rotation of Spur Gear SG 1  will impart clockwise rotation to its meshing Spur Gear SG 2 . As the Spur Gear SG 2  is keyed to the Hollow Stepped Unidirectional Final Output Shaft S 5 , the clockwise rotation of SG 2  will also result in the clockwise rotation of the Final Output Shaft S 5 . 
         [0075]    Finally Roll and Surge Motion in any direction will only result in the Final Output Shaft S 5  rotating in the clockwise direction. 
         [0076]    Motion Capture—Capturing Heaving and Pitching Motion 
         [0077]    When Heaving and Pitching occurs, the driving end of Shaft S 1  is moved up or down along the y axis by the Actuator Shaft S 0 . When the driving end of Shaft S 1  is moved up or down, the Bevel Gears BG 1  and BG 2  as they are mounted on Shaft S 1 , together revolve about the axis of shafts S 2   a , S 2   b  and S 2   c  in a planetary motion around their mating Bevel Gears BG 3  and BG 4 . 
         [0078]    When the Shaft S 1  is moved up, Bevel Gear BG 1  and BG 2  makes a counter-clockwise planetary motion around Bevel Gear BG 3  and BG 4 . Due to the orientation of One Way Bearings OWB 1  and OWB 2  Bevel Gear BG 1  and BG 2  rotates counter-clockwise and clockwise, respectively and rotates the meshing Bevel Gears BG 3  and BG 4  in the clockwise and counter-clockwise direction, respectively. As the Bevel Gear BG 4  and BG 5  are attached together, the counter-clockwise rotation of BG 4  will also result in the counter-clockwise rotation of BG 5 . The Bevel Gears BG 4  and BG 5  will freely rotate on Shaft S 2   c  as they are separated by the friction reducing Bushing BU 4 . Bevel Gear BG 5  will in turn rotate Bevel Gear BG 7  in the counter-clockwise direction. Bevel Gear BG 7  will then in turn rotate Bevel Gear BG 6  in the clockwise direction. 
         [0079]    When the driving end of Shaft S 1  is moved down, Bevel Gear BG 1  and BG 2  makes a clockwise planetary motion around Bevel Gear BG 3  and BG 4 . Due to the orientation of One Way Bearings OWB 1  and OWB 2  the teeth of Bevel Gear BG 1  and BG 2  ride on the teeth of its meshing Bevel Gears BG 3  and BG 4  in the clockwise direction imparting no rotation to BG 3  and BG 4 . However, Shafts S 2   a , S 2   b  and S 2   c  are set in clockwise rotation by Shaft S 1  as it passes through Shaft S 2   b . Shaft S 2   a  and Shaft S 2   c  do not impart any rotation to Bevel Gear BG 3 , BG 4  and BG 5  as Shaft S 2   a  and Shaft S 2   c  freely rotate in the Bushings BU 3  and BU 4 , respectively. Due to the orientation of One Way Bearing OWB 3  the clockwise rotation of Shaft S 2   c  imparts clockwise rotation to Bevel Gear BG 6 . Bevel Gear BG 6  will in turn rotate Bevel Gear BG 7  in the counter-clockwise direction. Bevel Gear BG 7  will then in turn rotate Bevel Gear BG 5  in the counter-clockwise direction. As Bevel Gears BG 5  and BG 4  are attached together BG 4  also rotates in the counter-clockwise direction. Bevel Gear BG 4  will in turn set the Bevel Gears BG 1  and BG 2  to rotate in the counter-clockwise and clockwise direction, respectively. Finally BG 1  and BG 2  will rotate the Bevel gear BG 3  in the clockwise direction. 
         [0080]    Therefore, in both of the cases where the driving end of Shaft S 1  is either moved up or down, all the meshing gears BG 1 , BG 2 , BG 3 , BG 4 , BG 5 , BG 6  and BG 7  rotate in the counter-clockwise, clockwise, clockwise, counter-clockwise, counter-clockwise, clockwise and counter-clockwise directions, respectively. The only difference is the direction of transmission of power. When the driving end of Shaft S 1  is moved down, Bevel Gear BG 6  becomes the driving gear and ends up rotating BG 3  through the meshing gear train. On the other hand, when the driving end of Shaft S 1  is moved up, BG 6  becomes the final driven gear. 
         [0081]    Heave and Pitch motion in any direction will set Bevel Gear BG 7  in the counter-clockwise direction. As the Bevel Gear BG 7  and Spur Gear SG 1  are keyed to Shaft S 3 , the counter-clockwise rotation of BG 7  will also result in the counter-clockwise rotation of Spur Gear SG 1 . The counter-clockwise rotation of Spur Gear SG 1  will impart clockwise rotation to its meshing Spur Gear SG 2 . As the Spur Gear SG 2  is keyed to the Hollow Stepped Unidirectional Final Output Shaft S 5 , the clockwise rotation of SG 2  will also result in the clockwise rotation of the Final Output Shaft S 5 . 
         [0082]    Finally Heave and Pitch Motion in any direction will only result in the Final Output Shaft S 5  rotating in the clockwise direction. 
         [0083]    Motion Capture—Capturing Sway and Yaw Motion 
         [0084]    When the driving end of Shaft S 1  is moved sideways left to right or right to left the entire upper assembly of Shafts S 1 , S 2   a , S 2   b , S 2   c , S 3  and S 4 , Bevel Gears BG 1 , BG 2 , BG 3 , BG 4 , BG 5 , BG 6  and BG 7 , Spur Gear SG 1 , Housing M 2   a , M 2   b   1 , M 2   b   2  and M 2   c  rotate as a single unit. As the Housing M 2   b   1  is bolted to Shaft S 4 , Shaft S 4  will rotate supported by the Bottom Housing plate M 2   d  and Stopper ST 2 . 
         [0085]    When the driving end of Shaft S 1  is moved leftward, the Shaft S 4  is rotated in the clockwise direction. Due to the orientation of the One Way Bearing OWB 4  and as it is keyed both to Shaft S 4  and Shaft S 5 , Shaft S 4  will directly rotate the Final Out Put Shaft S 5  in the clockwise direction. 
         [0086]    When the driving end of Shaft S 1  is moved rightward, the Shaft S 4  is rotated in the counter-clockwise direction. Due to the orientation of the One Way Bearing OWB 5 , Spur Gear SG 3  will rotate in the counter-clockwise direction. The counter-clockwise rotation of SG 3  will impart clockwise rotation to it mating Idler Spur Gear SG 4 . The clockwise rotation of Idler Spur Gear SG 4  will impart clockwise rotation to it mating Internal Spur Gear SG 5 . Finally Internal Spur Gear SG 5  will impart clockwise rotation to Final Output Shaft S 5 . 
         [0087]    When Shaft S 4  rotates in the clockwise the orientation of One Way Bearing OWB 5  will not impart any rotation to Spur Gear SG 3  and similarly when Shaft S 4  rotates in the counter-clockwise the orientation of One way Bearing OWB 4  will not impart any rotation to Shaft S 5 . 
         [0088]    Finally Sway and Yaw Motion in any direction will only result in the Final Output Shaft S 5  rotating in the clockwise direction. 
         [0089]    Motion Capture—Capturing Simultaneous Application of Roll, Surge, Heave and Pitch and Sway and Yaw Motion. 
         [0090]    When the float Rolls the Hollow Actuator Shaft S 0  is rotated about its own axis and the Key M 1  of the Shaft S 0  imparts torque and rotation to Helical Groove M 3  of Input Shaft S 1 . Similarly when the float surges back or forth, the Hollow Actuator Shaft S 0 , slides over Input Shaft S 1 . During this sliding motion, when Key M 1  of Shaft S 0  rides/slides inside the Helical Groove M 3  of Shaft S 1 , torque and rotation is imparted to Helical Groove M 3  and Shaft S 1 . When both motions Roll and Surge occur simultaneously, then torque is imparted to the Helical Groove M 3  by the Key M 1  due to both the rotational motion and the sliding motion of Key M 1  in the Helical Groove M 3 . The torque applied by the Key M 1  to the Helical Groove M 3  by Roll and Surge is additive and is finally transferred to the Input Shaft S 1 . This results in the counter-clockwise rotation of Bevel Gear BG 5  as explained in “Capturing Rolling and Surging Motion.” 
         [0091]    Bevel Gear BG 5  will be rotated in the counter-clockwise direction when Roll and Surge Motions and the upward Heave and Pitch motions are applied to the driving end of Shaft S 1  as explained in “Capturing Rolling and Surging Motion” and “Capturing Heave and Pitch Motion.” Similarly, Bevel Gear BG 6  will be rotated in the clockwise direction when downward Heave and Pitch motions are applied to the driving end of Shaft S 1  as explained in “Capturing Heave and Pitch Motion.” In any case, the counter-clockwise and clockwise rotation of Bevel Gears BG 5  and BG 6 , respectively will rotate Bevel Gear BG 7  and Spur Gear SG 1  in the counter-clockwise direction. When these motions occur simultaneously the torque provided by each motion to the Bevel Gear BG 7  will be additive. The additive torque on Spur Gear SG 1  will rotate Spur Gears SG 2  in the clockwise direction which in turn will rotate the Final Output Shaft S 5  in the clockwise direction. 
         [0092]    When the float Sway and Yaw to the left or right, the driving end of Input Shaft S 1  is moved sideways. As explained in “Capturing Sway and Yaw Motion” this will rotate Shaft S 4  in either the clockwise or counter-clockwise direction depending on the direction of the Sway and Yaw motions. When Shaft S 4  turns clockwise it imparts torque to the Final Output Shaft S 5  in the clockwise direction as they are directly coupled through the One Way Bearing OWB 4 . This torque is additive to the torque received by Shaft S 5  from Spur Gear SG 2 /SG 1  by Roll and Surge and/or Heave and Pitch motions. When Shaft S 4  turns counter-clockwise, Spur Gear SG 3  will rotate Idler Spur Gear SG 4  in the clockwise direction which will impart torque to the Internal Spur Gear SG 5  in the clockwise direction thus rotating Final Output Shaft S 5  also in the clockwise direction. This torque is also additive to the torque received by Shaft S 5  from Spur Gear SG 2 /SG 1  by Roll and Surge and/or Heave and Pitch motions. 
         [0093]    Sway and Yaw motion in any direction will impart torque to the Final Output Shaft S 5  only in the clockwise direction. Torque transmitted from Roll and Surge and/or Heave and Pitch will also rotate the Final Output Shaft in the clockwise direction through BG 7 , SG 1  and SG 2  Gears. Both these torques can be simultaneous and they are additive on Final Output Shaft S 5 . 
         [0094]    Final Stage 
         [0095]    Roll motion in any direction, Surge motion in any direction, Heave and Pitch Motion in any direction, and Sway and Yaw motion in any direction will only result in the Final Output Shaft S 5  rotating in the clockwise direction. As the Flywheel M 4  and Output Pulley M 5  are keyed to the Final Output Shaft S 5  they are also set in clockwise rotation. 
         [0096]    Applications 
         [0097]    One of the applications of this system is to convert wave energy to electrical energy. This gear box will be capable of harnessing ALL the forces provided by the waves in ALL directions. In a deep water system the gear box can be mounted on a floating device. See  FIG. 18 . The Hollow Actuator Shaft S 0  can be attached to a second floating device. Wave action will provide relative motion between the two floating devices in all directions. The gear box will unify all these motions onto a unidirectional rotating outer shaft that can actuate a hydraulic pump or an electric generator. 
         [0098]    The various forces and torque that are applied on the Hollow Actuator Shaft S 0  and Input Shaft S 1  will be equal to the resistance offered by the electric generator or the hydraulic motor connected to the output shaft of the gear box. Higher the ratings of the electric motor or hydraulic pump higher the forces on the input shaft and the gear box. This feature is unique to this system as it can absorb forces that come from all directions. Any system not capable of absorbing forces from a given direction and if forces are applied from that direction then the system needs to structurally withstand that useless force. This requires stronger design and bigger geometry that does not really add value and increase cost. 
         [0099]    Wave power can also be harnessed using different strategies depending on the water depth. In shallow water depths the Gear box can be mounted on a fixed structure above the water level. See  FIGS. 19 and 20 . In some cases the gear box can also be mounted on a frame that is immersed in water. The Hollow Actuator Shaft S 0  can be attached to a floating device. Wave action will cause the floating device to move around in multiple directions. The gear box will unify all these motions onto a unidirectional rotating outer shaft that can actuate a hydraulic pump or an electric generator. The float can also be provided with vanes so that wave induced flowing water across the vanes can make the float rotate about the shaft S 1 &#39;s axis which can also be absorbed by the gear box. 
         [0100]    Moving automobile—The Gear Box can be fixed to the automobile and a weight suspended on the driving end of Shaft S 1 . The movements experienced by the automobile will oscillate the pendulum and set the gear box in motion. The Gear Box can also be mounted on wheel axles and the driving end of Shaft S 1  connected to the body of the automobile. The relative motion (generally absorbed by the shock absorbers) between the wheels and the body can be absorbed by the Gear Box and converted to unidirectional rotary motion. 
         [0101]    Railway Trains—The Gear Box can be mounted on a coach and the driving end of Shaft S 1  connected to the adjacent coach. The relative motion between the two coaches as they travel on tracks can be absorbed by the Gear Box and converted to unidirectional rotary motion. 
         [0102]    Railway Track Vibrations—The gear arrangement can be used to pick up vibrations on railway tracks and convert them to unidirectional rotation. The gear arrangement can be mounted on the ground and the input shaft can be attached to the railway track. 
         [0103]    Runaway Energy Harvesting—General run away energy in the form of vibration energy during a bumpy ride of an automobile, an animal driven carriage on an uneven road, or on a rocking boat can be absorbed. The gear arrangement in these cases can be fixed in an inverted position on a frame on the vehicle or boat with the input shaft S 1 /S 0  hanging vertically down. See  FIGS. 21A and 21B . A weight can be attached to S 0 /S 1  driving end. During a bumpy ride the weight will oscillate as a pendulum in all directions. These oscillations are converted to unidirectional rotation to power a generator. 
         [0104]    Other applications can be in any power transmission system of automobiles where the orientation of the output shaft of the driving system and the input shaft of a driven system are not aligned or their alignment changes during operations. For example, to accommodate the changing orientation between the output shaft of an automobile engine and the wheel axis of the automobile when the driving terrain has undulations. 
         [0105]    The foregoing description of the embodiments has been provided for purposes of illustration and description. It is not intended to be exhaustive or to limit the disclosure. Individual elements or features of a particular embodiment are generally not limited to that particular embodiment, but, where applicable, are interchangeable and can be used in a selected embodiment, even if not specifically shown or described. The same may also be varied in many ways. Such variations are not to be regarded as a departure from the disclosure, and all such modifications are intended to be included within the scope of the disclosure. 
         [0106]    GENERIC NOMENCLATURE: The abbreviated names for various components are given below: 
         [0000]    
       
         
               
               
               
             
           
               
                   
                   
               
             
             
               
                   
                 Point of Origin 
                 O 
               
               
                   
                 Shafts 
                 S 
               
               
                   
                 Bevel Gears 
                 BG 
               
               
                   
                 Spur Gears 
                 SG 
               
               
                   
                 One Way Bearing Bearings 
                 OWB 
               
               
                   
                 Regular Bearings 
                 RB 
               
               
                   
                 Thrust Bearings 
                 TB 
               
               
                   
                 Bushing 
                 BU 
               
               
                   
                 Miscellaneous (Sleeve, Housing, keys, pulley etc.) 
                 M 
               
               
                   
                   
               
             
          
         
       
     
         [0107]    SPECIFIC NOMENCLATURE: Specific component, their abbreviated name with a numerical identifier is given below: 
         [0000]    
       
         
               
               
             
           
               
                   
               
             
             
               
                 Hollow Actuator Shaft 
                 S0 
               
               
                 Input Shaft 
                 S1 
               
               
                 Left Heave Pitch Shaft 
                 S2a 
               
               
                 Centre Heave Pitch Shaft 
                 S2b 
               
               
                 Right Heave Pitch Shaft 
                 S2c 
               
               
                 Intermediary Heave Pitch Roll and Surge Shaft 
                 S3 
               
               
                 Sway and Yaw Shaft 
                 S4 
               
               
                 Hollow Stepped Unidirectional Final Output Shaft 
                 S5 
               
               
                 Intermediary Shaft for Idler Gear SG4 
                 S6 
               
               
                 Forward Roll/Surge Bevel Gear 
                 BG1 
               
               
                 Rear Roll/Surge Bevel Gear 
                 BG2 
               
               
                 Left Heave &amp; Pitch Bevel Gear 
                 BG3 
               
               
                 Right Heave &amp; Pitch Bevel Gear 
                 BG4 
               
               
                 Roll Surge Heave &amp; Pitch Driven Bevel Gear 
                 BG5 
               
               
                 Heave &amp; Pitch Driven Bevel Gear 
                 BG6 
               
               
                 Roll Surge Heave &amp; Pitch Collector Bevel Gear 
                 BG7 
               
               
                 Roll Surge Heave &amp; Pitch Collector Spur Gear 
                 SG1 
               
               
                 Roll Surge Heave &amp; Pitch Driven Spur Gear 
                 SG2 
               
               
                 Counter-clockwise Sway &amp; Yaw Spur Intermediary Gear 
                 SG3 
               
               
                 Counter-clockwise Sway &amp; Yaw Idler Spur Gear 
                 SG4 
               
               
                 Counter-clockwise Sway &amp; Yaw Driven Internal Spur Gear 
                 SG5 
               
               
                 Key on Shaft S1 
                 M1 
               
               
                 Upper Housing 
                 M2a, M2b1, 
               
               
                   
                 M2c 
               
               
                 Lower Housing 
                 M2d 
               
               
                 Helical Groove on Shaft S0 
                 M3 
               
               
                 Flywheel 
                 M4 
               
               
                 Output Pulley 
                 M5 
               
               
                 One Way Bearing on Forward Roll/Surge Bevel Gears BG1 
                 OWB1 
               
               
                 One Way Bearing on Rear Roll/Surge Bevel Gears BG2 
                 OWB2 
               
               
                 One Way Bearing on Bevel Gear BG6 
                 OWB3 
               
               
                 One Way Bearing on Shaft S4/S5 
                 OWB4 
               
               
                 One Way Bearing on Shaft S4/Spur Gear SG3 
                 OWB5 
               
               
                 Bushing on Housing M2a 
                 BU1 
               
               
                 Bushing on Housing M2c 
                 BU2 
               
               
                 Bushing on Bevel Gear BG3 
                 BU3 
               
               
                 Bushing on Bevel Gears BG4, BG5 
                 BU4 
               
               
                 Stopper for Shaft S3 
                 ST1 
               
               
                 Stopper for Shaft S4 
                 ST2