Horizontal Steering Driving Unit
WDS Series · Servo-driven horizontal-axis steering wheel with integrated drive and steering. IP54 protection, 360° operation, ±140° steering angle.
Walking Motor Parameters (HWDS48-400A-200 / HWDS48-750A-200)
| Parameter | Unit | HWDS48-400A-200 | HWDS48-750A-200 |
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| Motor Power | W | 400 | 750 |
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| Motor Voltage | V(DC) | 48 | 48 |
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| Motor Current | A | 11.95 | 22.44 |
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| Motor Speed | rpm | 3000 | 3000 |
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| Motor Torque | N·m | 1.27 | 2.387 |
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| Protection Level | IP | 54 | 54 |
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| Motor Encoder | — | Magnetic coding | Magnetic coding |
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| Walking Reducer Ratio | i | 20 | 34 | 68 | 20 | 34 | 68 |
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| Walking Speed | m/min | 70.65 | 41.55 | 20.77 | 70.65 | 41.55 | 20.77 |
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| Output Torque | N·m | 22.9 | 38.9 | 77.7 | 43 | 73 | 120 |
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| Traction | N | 322 | 547 | 1036 | 605 | 1028 | 1733 |
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| Reference Traction Weight | kg | 547 | 929 | 1658 | 1029 | 1749 | 2600 |
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| Polyurethane Load-bearing | kg | 550 | 550 |
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| Rubber Load-bearing | kg | 300 | 300 |
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Steering Motor Parameters
| Parameter | Unit | Value |
|---|
| Motor Type | — | Servo motor |
| Motor Power | W | 200 |
| Motor Voltage | V(DC) | 48 |
| Motor Current | A | 5.98 |
| Motor Speed | rpm | 3000 |
| Motor Torque | N·m | 0.637 |
| Protection Level | IP | 54 |
| Motor Encoder | — | Magnetic coding |
| Speed Ratio of Reducer | i | 35 |
| Slewing Gear | — | 105 |
| Gear Ratio | — | 3.5 : 1 |
| Number of Steering Gear Teeth | — | 30 |
| Total Steering Ratio | i | 122.5 |
| Number of Encoder Teeth | Z | 21 |
| Steering Angle | ° | ±140 |
| Brake Working Voltage | V(DC) | 48 |
| Brake Torque | N·m | 4 |
| Angle Sensor | — | SICK DBS36E-S3EK02000 |
| Limit Switch Working Voltage | V | 0~48 |
Vertical Steering Driving Unit
LDS Series · Servo-driven vertical-axis steering wheel with integrated drive and steering. Models LDS150 (750W) and LDS230 (1500W). 360° steering, IP54 protection.
Walking Motor Parameters (HLDS48-750A-400 / HLDS48-1500A-400)
| Parameter | Unit | HLDS48-750A-400 | HLDS48-1500A-400 |
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| Motor Power | W | 750 | 1500 |
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| Motor Voltage | V(DC) | 48 | 48 |
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| Motor Current | A | 22.44 | 39 |
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| Motor Speed | rpm | 3000 | 3000 |
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| Motor Torque | N·m | 2.387 | 4.77 |
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| Protection Level | IP | 54 | 54 |
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| Motor Encoder | — | Magnetic coding | Incremental Optical |
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| Walking Reducer Ratio | i | 16 | 20 | 28 | 16 | 20 | 28 |
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| Walking Speed | m/min | 88.3 | 70.7 | 50.5 | 135.4 | 108.3 | 77.3 |
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| Output Torque | N·m | 34 | 43 | 60 | 70 | 90 | 125 |
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| Traction | N | 453 | 573 | 800 | 608 | 782 | 1086 |
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| Reference Traction Weight | kg | 800 | 900 | 1300 | 900 | 1173 | 1600 |
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| Polyurethane Load-bearing | kg | 550 | 1120 |
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Steering Motor Parameters
| Parameter | Unit | Value |
|---|
| Motor Type | — | Servo motor |
| Motor Power | W | 400 |
| Motor Voltage | V(DC) | 48 |
| Motor Current | A | 11.95 |
| Motor Speed | rpm | 3000 |
| Motor Torque | N·m | 1.27 |
| Protection Level | IP | 54 |
| Motor Encoder | — | Magnetic coding |
| Speed Ratio of Reducer | i | 35 |
| Slewing Gear | — | 105 (LDS150) / 123 (LDS230) |
| Gear Ratio | — | 3.5 : 1 |
| Number of Steering Gear Teeth | — | 30 (LDS150) / 20 (LDS230) |
| Total Steering Ratio | i | 122.5 (LDS150) / 215.25 (LDS230) |
| Steering Angle | ° | 360 |
| Brake Working Voltage | V(DC) | 24 (LDS150) / 48 (LDS230) |
| Brake Torque | N·m | 3.2 (LDS150) |
| Angle Sensor | — | SICK DBS36E-S3EK02000 |
Differential Driving Unit
XZS Series · Compact differential drive with integrated servo motor and planetary gearbox. IP65 protection, available with 150mm or 160mm wheel.
Walking Motor Parameters (HXZS48-400A-150 / HXZS48-400A-160)
| Parameter | Unit | Value |
|---|
| Motor Type | — | Servo motor (DC) |
| Motor Power | W | 400 |
| Motor Voltage | V | 48 |
| Motor Speed | rpm | 3000 |
| Motor Current | A | 11.95 |
| Rated Torque | N·m | 1.27 |
| Protection Level | IP | 65 |
Walking Reducer Parameters (Planetary Reducer)
| Parameter | Unit | Values (150mm wheel / 160mm wheel) |
|---|
| Speed Ratio | i | 16 | 20 | 25 | 28 | 35 | 40 | 50 | 70 |
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| Reducer Torque | N·m | 30 | 30 | 33 | 30 | 33 | 30 | 33 | 21.5 |
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| Polyurethane Load-bearing | kg | 300 (150mm) / 350 (160mm) |
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| Max Speed (150mm) | m/min | 88.3 | 70.7 | 56.5 | 50.5 | 40.4 | 35.3 | 28.3 | 20.2 |
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| Max Speed (160mm) | m/min | 94.2 | 75.4 | 60.3 | 53.8 | 43.1 | 37.7 | 30.1 | 21.5 |
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| Traction (150mm) | N | 243.8 | 304.8 | 381 | 360 | 396 | 360 | 396 | 258 |
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| Traction (160mm) | N | 228.6 | 285.8 | 357.2 | 337.5 | 371.3 | 337.5 | 371.3 | 241.9 |
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| Traction Weight (150mm) | kg | 463.3 | 579.1 | 723.9 | 684 | 752.4 | 684 | 752.4 | 490.2 |
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| Traction Weight (160mm) | kg | 434.3 | 542.9 | 678.7 | 641.3 | 705.4 | 641.3 | 705.4 | 459.6 |
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Dual Wheel Differential Driving Unit
CS Series · Dual-wheel differential drive with independent suspension and integrated steering. Spring-loaded wheels for terrain adaptation, IP54 protection, ±140° steering angle.
Walking Motor Parameters (HCS48-120A-400 / HCS48-140A-400)
| Parameter | Unit | Value |
|---|
| Motor Type | — | Servo motor (DC) |
| Rated Power | W | 400 |
| Rated Voltage | V | 48 |
| Rated Speed | rpm | 3000 |
| Motor Current | A | 11.95 |
| Rated Torque | N·m | 1.27 |
| Protection Level | IP | 54 |
| Motor Encoder | — | Increment |
| Line Length | m | 1 |
Walking Reducer Parameters
| Parameter | Unit | Values (120mm wheel / 140mm wheel) |
|---|
| Walking Reducer Ratio | i | 16 | 20 | 28 | 35 | 50 |
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| Walking Speed (120mm) | m/min | 70.7 | 56.5 | 40.4 | 32.3 | 22.6 |
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| Walking Speed (140mm) | m/min | 82.4 | 65.9 | 47.1 | 37.7 | 26.4 |
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| Single Wheel Rated Torque | N·m | 30 | 30 | 30 | 33 | 33 |
|---|
| Traction (120mm) | N | 609.6 | 762 | 789 | 789 | 789 |
|---|
| Traction (140mm) | N | 655 | 789 | 789 | 789 | 789 |
|---|
| Ref. Traction Weight (120mm) | kg | 913 | 1143 | 1500 | 1500 | 1500 |
|---|
| Ref. Traction Weight (140mm) | kg | 983 | 1500 | 1500 | 1500 | 1500 |
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| Polyurethane Load-bearing | kg | 360 (120mm) / 900 (140mm) |
|---|
| Polyurethane Hardness | A | 90 ± 5 |
|---|
| Polyurethane Color | — | Dark Blue |
|---|
Steering Parameters
| Parameter | Unit | Value |
|---|
| Steering Angle | ° | ±140 |
| Absolute Encoder | — | AHM36A-S3CK014*12 |
| Origin Sensor | — | IME12-02BNSZW2K |
