AGV Products

MSD Driving Wheel

MSD driving wheel module has wide product coverage, high power density, strong carrying capacity which can carry various loads of 3 tons and below, suitable for multiple scenes. It has low operating noise, low temperature rise, higher speed (up to 2.8m/s), better accelerated speed (up to 2m/s²). It can be customized according to the actual working conditions of customers, to meet the motion control needs of AGV/AMR，such as floor AGV and ACR. Also, it can be integrated with driver, motor, encoder, wheel edge planetary grarbox, brake, mounting bracket, elastic suspension, etc., for all kinds of selection & customization. Main parts of MSD driving wheel are independently developed and manufactured, which ensure good quality.

MSD150-10-040-20GSL-B

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

400
1.91
10:01

Axis Length(mm)
Brake
Wheel Material

172.5
YES
PU

IP Rating
Certification
Weight(kg)

IP54
CE
7.9

MSD150-10-040-20GSL-N

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

400
1.91
10:01

Axis Length(mm)
Brake
Wheel Material

IP Rating
Certification
Weight(kg)

IP54
CE
7.4

MSD160-10-075-20GSL-B

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

750
3.6
10:01

Axis Length(mm)
Brake
Wheel Material

IP Rating
Certification
Weight(kg)

IP54
CE
8.9

MSD160-10-075-20GSL-N

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

750
3.6
10:01

Axis Length(mm)
Brake
Wheel Material

IP Rating
Certification
Weight(kg)

IP54
CE
8.4

MSD180-10-075-20GSL-B

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

180
47.5
625

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

750
3.6
10:01

Axis Length(mm)
Brake
Wheel Material

IP Rating
Certification
Weight(kg)

IP54
CE
11.6

MSD180-10-075-20GSL-N

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

180
47.5
625

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

750
3.6
10:01

Axis Length(mm)
Brake
Wheel Material

IP Rating
Certification
Weight(kg)

IP54
CE
11.1

MSD180-10-100-20GSL-B

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

180
47.5
625

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

1000
4.8
10:01

Axis Length(mm)
Brake
Wheel Material

207.5
YES
PU

IP Rating
Certification
Weight(kg)

IP54
CE
12

MSD180-10-100-20GSL-N

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

180
47.5
625

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

1000
4.8
10:01

Axis Length(mm)
Brake
Wheel Material

IP Rating
Certification
Weight(kg)

IP54
CE
11.5

MSD200-10-100-20GSL-B

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

200
47.5
625

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

1000
4.8
10:01

Axis Length(mm)
Brake
Wheel Material

207.5
YES
PU

IP Rating
Certification
Weight(kg)

IP54
CE
14.2

MSD200-10-100-20GSL-N

O.D. of Wheel(mm)
Width of Wheel(mm)
Max Radila Load of Wheel(kg)

200
47.5
625

Speed at Max Load(m/s)
Peak Speed at No Load(m/s)
Supply Voltage

Rated Power(W)
Motor Rated Torque(Nm)
Reduction Ratio

1000
4.8
10:01

Axis Length(mm)
Brake
Wheel Material

IP Rating
Certification
Weight(kg)

IP54
CE
13.7

AEQ Wheel Gearbox

AEQ Wheel Gearbox series are precision planetary gearbox for AGV/AMR travel drive. Large torque, strong radial loading capacity, compact structure, high rigidity, smooth transmission, low noise. It can be selected or customized, and can be integrated with wheels.

AEQ-095C-016-05-14-1

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

65
16
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
No

IP Rating
Weight(kg)
Application

IP54
3.3
60mm servo motor

AEQ-095C-016-05-14-1-H37-W125

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

65
16
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
Yes
PU

IP Rating
Weight(kg)
Application

IP54
4.3
60mm servo motor

AEQ-095C-016-05-14-1-H45-W150

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

65
16
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
Yes
PU

IP Rating
Weight(kg)
Application

IP54
5.3
60mm servo motor

AEQ-095C-020-05-14-1

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

65
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
No

IP Rating
Weight(kg)
Application

IP54
3.3
60mm servo motor

AEQ-095C-020-05-14-1-H37-W125

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

65
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
Yes
PU

IP Rating
Weight(kg)
Application

IP54
4.3
60mm servo motor

AEQ-095C-020-05-14-1-H45-W150

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

65
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
Yes
PU

IP Rating
Weight(kg)
Application

IP54
5.3
60mm servo motor

AEQ-095C-032-05-14-1

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

93
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
No

IP Rating
Weight(kg)
Application

IP54
3.3
60mm servo motor

AEQ-095C-032-05-14-1-H37-W125

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

93
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
Yes
PU

IP Rating
Weight(kg)
Application

IP54
4.3
60mm servo motor

AEQ-095C-032-05-14-1-H45-W150

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

93
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□60
14

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ70
Yes
PU

IP Rating
Weight(kg)
Application

IP54
5.3
60mm servo motor

AEQ-115N-016-10-19-2

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

100
16
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
No

IP Rating
Weight(kg)
Application

IP54
5.9
80mm servo motor

AEQ-115N-016-10-19-2-H40-W160

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

100
16
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
350
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
7.8
80mm servo motor

AEQ-115N-016-10-19-2-H55-W180

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

100
16
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
450
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
9.2
80mm servo motor

AEQ-115N-016-10-19-2-H55-W200

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

100
16
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
1000
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
9.5
80mm servo motor

AEQ-115N-020-10-19-1

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
No

IP Rating
Weight(kg)
Application

IP54
5.9
80mm servo motor

AEQ-115N-020-10-19-1-H40-W160

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
350
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
7.8
80mm servo motor

AEQ-115N-020-10-19-1-H55-W180

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
450
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
9.2
80mm servo motor

AEQ-115N-020-10-19-1-H55-W200

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
1000
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
9.5
80mm servo motor

AEQ-115N-032-10-19-1

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
No

IP Rating
Weight(kg)
Application

IP54
5.9
80mm servo motor

AEQ-115N-032-10-19-1-H40-W160

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
350
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
7.8
80mm servo motor

AEQ-115N-032-10-19-1-H55-W180

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
450
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
9.2
80mm servo motor

AEQ-115N-032-10-19-1-H55-W200

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1000
1000
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤20
□80
19

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ90
Yes
PU

IP Rating
Weight(kg)
Application

IP54
9.5
80mm servo motor

AEQ-145N-020-15-22-1

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1500
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤25
□130
22

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ145
No

IP Rating
Weight(kg)
Application

IP54
10.2
130mm servo motor

AEQ-145N-020-15-22-1-H77-W200

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1500
800
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤25
□130
22

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ145
Yes
PU

IP Rating
Weight(kg)
Application

IP54
16
130mm servo motor

AEQ-145N-020-15-22-1-H77-W230

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

130
20
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1500
1500
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤25
□130
22

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ145
Yes
PU

IP Rating
Weight(kg)
Application

IP54
16.9
130mm servo motor

AEQ-145N-032-15-22-1

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

250
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1500
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤25
□130
22

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ145
No

IP Rating
Weight(kg)
Application

IP54
10.2
130mm servo motor

AEQ-145N-032-15-22-1-H77-W200

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

250
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1500
800
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤25
□130
22

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ145
Yes
PU

IP Rating
Weight(kg)
Application

IP54
16
130mm servo motor

AEQ-145N-032-15-22-1-H77-W230

Motor Rated Torque(Nm)
Reduction Ratio
Instant stop torque

250
32
3 times of rated torque

Max.radial load of Gearbox(kg)
Max Radila Load of Wheel(kg)
Full load efficiency

1500
1500
94%

Backlash(arc-min)
Input Frame Size
Motor shaft diameter(mm)

≤25
□130
22

Input Mounting Size(mm)
Distribution Wheel
Wheel Material

φ145
Yes
PU

IP Rating
Weight(kg)
Application

IP54
16.9
130mm servo motor

MSH Wheel Hub Motor

Wheel Hub Motors are the ideal choice for intelligent service robots, which are widely used in various scenarios like food delivery, cleaning, disinfection, carrying, sorting and inspection.

MSH50-N-80-300-L2-SL-N

Tire Hardness (shore A)
O.D. of Wheel(mm)
Width of Wheel(mm)

70±5%
130
40

Supply Voltage
Rated Power(W)
Rated Rotational Speed(rpm)

Maxium Speed(rpm)
Motor Rated Torque(Nm)
Peak Torque(Nm)

Rated Current(A)
Encoder resolution(counts/rev)
Insulation Class

4
4096
Class B

IP Rating
Allow the Load (Double Wheel)(kg)
Integral Holding Brake

IP54
50
Customizable

Wheel Material

MSH55-N-110-300-L2-SL-N

Tire Hardness (shore A)
O.D. of Wheel(mm)
Width of Wheel(mm)

70±5%
140
34

Supply Voltage
Rated Power(W)
Rated Rotational Speed(rpm)

Maxium Speed(rpm)
Motor Rated Torque(Nm)
Peak Torque(Nm)

Rated Current(A)
Encoder resolution(counts/rev)
Insulation Class

6.5
65536
Class B

IP Rating
Allow the Load (Double Wheel)(kg)
Integral Holding Brake

IP54
60
Customizable

Wheel Material

MSH65-N-125-200-L2-SL-N

Tire Hardness (shore A)
O.D. of Wheel(mm)
Width of Wheel(mm)

70±5%
173
48

Supply Voltage
Rated Power(W)
Rated Rotational Speed(rpm)

Maxium Speed(rpm)
Motor Rated Torque(Nm)
Peak Torque(Nm)

Rated Current(A)
Encoder resolution(counts/rev)
Insulation Class

7.5
4096
Class B

IP Rating
Allow the Load (Double Wheel)(kg)
Integral Holding Brake

IP54
140
Customizable

Wheel Material

MSH80-N-360-192-L5-SL-N

Tire Hardness (shore A)
O.D. of Wheel(mm)
Width of Wheel(mm)

70±5%
200
65

Supply Voltage
Rated Power(W)
Rated Rotational Speed(rpm)

Maxium Speed(rpm)
Motor Rated Torque(Nm)
Peak Torque(Nm)

Rated Current(A)
Encoder resolution(counts/rev)
Insulation Class

7.5
4096
Class B

IP Rating
Allow the Load (Double Wheel)(kg)
Integral Holding Brake

IP40
300
Customizable

Wheel Material

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