Steering and drive assembly

1. A drive and steering unit comprising:

a) a wheel housing having a first axis that is aligned with a drive shaft of a wheel housed therein, and a second axis that is normal to the first axis along a center of the wheel;

b) a steering assembly for steering the wheel and having a steering gear and a steering power system coupled to the steering gear for controlling and driving the steering gear;

c) the steering gear being attached to the wheel housing, having a central axis aligned with the second axis, and being rotatable with the wheel housing about the second axis; and

d) a drive assembly coupled to the wheel housing for driving the wheel, and a drive power system coupled to the drive assembly and movable with the wheel housing;

wherein the steering gear is a steering pulley attached to the wheel housing; and

wherein the steering power system is spaced from the wheel housing and coupled to the steering pulley by a steering belt;

wherein the wheel housing is fixed to a support at a point of fixation which defines a support plane and wherein the entire wheel housing and the entire steering power system are mounted above the support plane.

2. The drive and steering unit of claim 1 , wherein the steering power system further comprises a steering motor pulley, the steering belt coupling the steering pulley to the steering motor pulley.

3. The drive and steering unit of claim 1 , wherein the drive assembly is mounted to the wheel housing and rotatable therewith.

4. The drive and steering unit of claim 3 , wherein the drive power system is attached to the wheel housing and coupled to the drive shaft by a driving belt.

5. The drive and steering unit of claim 4 , wherein the drive power system further comprises a drive motor pulley, the driving belt coupling the drive motor pulley to the drive shaft.

6. The drive and steering unit of claim 5 , further comprising a drive shaft pulley secured to the drive shaft that is coupled to the driving belt.

7. The drive and steering unit of claim 1 , wherein the wheel housing is capable of up to or greater than 360° degrees of movement.

8. The drive and steering unit of claim 1 , wherein the wheel housing is rotatable relative to the support by a bearing connected between the wheel housing and the support.

9. The drive and steering unit of claim 8 , wherein the drive assembly is connected to the bearing.

10. The drive and steering unit of claim 1 , wherein the steering assembly and the drive assembly are each adapted to operate independently or simultaneously.

11. An automated guided vehicle (AGV) comprising:

a) a load support; and

b) a plurality of drive and steering units for driving and steering the load support;

c) each drive and steering unit comprising a steering assembly including a steering gear attached to a wheel housing and engaged with a steering power system, the steering gear being rotatable about an axis in response to actuation of the steering assembly, a drive assembly connected to the steering gear, and a drive power system coupled to the wheel housing and movable with the steering gear;

wherein the steering gear is a steering pulley attached to the wheel housing; and

wherein the steering power system is spaced from the wheel housing and coupled to the steering pulley by a steering belt;

wherein the wheel housing is fixed to a support at a point of fixation which defines a support plane and wherein the entire wheel housing and the entire steering power system are mounted above the support plane.

12. The automated guided vehicle (AGV) of claim 11 , wherein the steering power system further comprises a steering motor pulley, the steering belt coupling the steering pulley to the steering motor pulley.

13. The automated guided vehicle (AGV) of claim 11 , wherein the drive assembly is mounted to the wheel housing and rotatable therewith.

14. The automated guided vehicle (AGV) of claim 13 , wherein the drive power system is attached to the wheel housing and coupled thereto by a driving belt.

15. The automated guided vehicle (AGV) of claim 11 , wherein the wheel housing is capable of up to or greater than 360° degrees of movement.

16. The automated guided vehicle (AGV) of claim 11 , wherein the wheel housing is rotatable relative to the support by a bearing connected between the wheel housing and the support.

17. The automated guided vehicle (AGV) of claim 16 , wherein the drive assembly is connected to the bearing.

18. The automated guided vehicle (AGV) of claim 11 , wherein the steering assembly and the drive assembly are each adapted to operate independently or simultaneously.

19. The automated guided vehicle (ACV) of claim 11 , further comprising four drive and steering units positioned along adjacent corners of the load support, the steering assemblies being fixed adjacent a periphery of the load support.

20. A drive and steering unit comprising:

a) a steering assembly for steering a wheel and having a steering gear and a steering power system coupled to the steering gear for controlling and driving the steering gear;

b) a slewing ring attached to the steering gear for rotating the wheel; and

c) a drive assembly coupled to the slewing ring for driving the wheel, and a drive power system coupled to the drive assembly and movable with the slewing ring and the wheel;

wherein the steering power system is spaced from the slewing ring by a steering belt;

wherein the slewing ring is fixed to a support at a point of fixation which defines a support plane and wherein the entire slewing ring and the entire steering power system are mounted above the support plane.

21. The drive and steering unit of claim 20 , wherein the steering power system further comprises a steering motor pulley, the steering belt coupling a steering pulley to the steering motor pulley.

22. The drive and steering unit of claim 20 , wherein the drive assembly is mounted to the stewing ring and rotatable therewith.

23. The drive and steering unit of claim 22 , wherein the drive power system is attached to the stewing ring and coupled to the wheel by a driving belt.