Elastic composite material tire and impact-resistant driving wheel device

Abstract

The invention provides an elastic composite material tire and an anti-impact driving wheel device, the elastic composite material tire comprises a tire base body and an elastic filling material, and the hardness of the tire base body is greater than that of the elastic filling material; the tire base body comprises a tire inner ring, a tire outer ring and a grid structure arranged between the tire inner ring and the tire outer ring, and partial grids of the grid structure are filled with the elastic filling material. The invention further provides an anti-impact driving wheel device. The anti-impact driving wheel device mainly plays an anti-impact effect in three aspects of absorbing impact force, isolating radial impact force and isolating axial impact force from the tire, has good anti-falling and anti-impact performance, and can effectively prevent the impact force borne by the elastic composite tire from being transmitted to a driving motor and damaging the driving motor; therefore, the driving motor, the control panel and other internal parts of the machine body can be well protected.

Description

[Technical field]

[0001] The invention relates to the technical field of robots, and in particular to an elastic composite material tire and an impact-resistant driving wheel device. [Background technology]

[0002] With the continuous advancement of robotics and automation technology, there is a growing demand for robots or mechanical systems that can work stably in complex and harsh environments. These systems need to have good shock resistance to ensure that they can maintain normal operation and reduce damage when subjected to external impact.

[0003] Especially in recent years, in order to achieve rapid deployment of robots and improve the stability of robots working in harsh environments, higher requirements have been put forward for the robot's anti-throwing, anti-impact, anti-falling and other performance. For example, a throwing robot can usually withstand the impact force generated when it is thrown from a height of several meters, and after deployment, it can transmit video, audio or other information back to the target area in a controlled state. However, the impact resistance of the existing robot's driving wheel structure is still relatively poor, and the impact force is easily transmitted to the drive motor and causes damage to the drive motor. In view of the above-mentioned problems, the inventor of this case conducted an in-depth study on the problem, which led to the creation of this case. [Summary of the invention]

[0004] The technical problem to be solved by the present invention is to provide an elastic composite tire and an impact-resistant driving wheel device to solve the problem that the impact resistance of the driving wheel structure of the existing robot is still poor and the impact force is easily transmitted to the driving motor and causes damage to the driving motor.

[0005] The present invention is achieved in that:

[0006] In a first aspect, an elastic composite tire includes a tire base and an elastic filling material, wherein the hardness of the tire base is greater than the hardness of the elastic filling material; the tire base includes a tire inner ring, a tire outer ring, and a grid structure arranged between the tire inner ring and the tire outer ring, and part of the grids of the grid structure are filled with the elastic filling material.

[0007] Furthermore, a plurality of penetrating grids and a plurality of non-penetrating grids are formed on the grid structure, and the elastic filling material is filled in the non-penetrating grids.

[0008] Furthermore, the grid structure is formed by at least one annular partition plate staggered between the inner ring and the outer ring of the tire and a plurality of radially distributed radial partition plates, the non-penetrated grid is formed with a panel along one axial side, and within the same annular ring, the penetrated grid and the non-penetrated grid are alternately distributed around the circumferential direction.

[0009] Furthermore, the elastic filling material includes a plurality of peripheral filling blocks and a central filling block;

[0010] The central filling block is filled in the innermost circular ring, and the central filling block includes a main body portion filled in the axial side of the inner ring of the tire and an extension portion extending into each non-penetrating grid in the innermost circular ring, and an assembly avoidance hole is formed in the middle of the main body portion; the peripheral filling block is filled in each non-penetrating grid outside the innermost circular ring.

[0011] Furthermore, the elastic filling material is bonded to the inner side of the panel by glue, and a through hole is opened on the panel.

[0012] Furthermore, the tire base is integrally formed of hard rubber, and the elastic filling material is TPU foam.

[0013] Furthermore, the four corners of the through grid are all rounded.

[0014] Furthermore, the outer surface of the outer ring of the tire is provided with anti-skid protrusions distributed at intervals around the circumferential direction.

[0015] In a second aspect, an impact-resistant driving wheel device includes a wheel hub, a first bearing, a motor fixing seat, a driving motor, a second bearing, a connecting shaft, and the elastic composite tire described above;

[0016] The elastic composite tire is sleeved and fastened on the wheel hub; the outer ring of the first bearing is assembled in the wheel hub with an interference fit, and the inner ring of the first bearing is assembled in the motor fixing seat with an interference fit; one end of the connecting shaft is connected to the wheel hub, and the other end of the connecting shaft is inserted into the motor fixing seat, the inner ring of the second bearing is assembled on the connecting shaft with a clearance fit, and the outer ring of the second bearing is assembled in the motor fixing seat with an interference fit; the drive motor is installed in the motor fixing seat, and the connecting shaft is formed with an assembly shaft hole at the end facing the drive motor, the output shaft of the drive motor is inserted into the assembly shaft hole, and the connecting shaft and the output shaft of the drive motor are matched with special-shaped holes and can be axially movably connected.

[0017] Furthermore, it also includes a waterproof rubber ring, a steel sleeve and a bolt;

[0018] The steel sleeve is arranged at the center of the wheel hub, and one end of the connecting shaft is fitted in the steel sleeve with clearance; an internal threaded hole is formed at the end of the connecting shaft facing the wheel hub, and the bolt passes through the steel sleeve and is screwed together with the connecting shaft, and a distance is left between the bolt and the output shaft of the driving motor;

[0019] A bearing limiting step is formed in the motor fixing seat at one end close to the steel sleeve, and the waterproof rubber ring is arranged between the connecting shaft and the bearing limiting step; a limiting convex ring is arranged at one end of the connecting shaft close to the driving motor.

[0020] By adopting the technical solution of the present invention, at least the following beneficial effects are achieved:

[0021] 1. The elastic composite tire is designed to include a tire substrate and an elastic filling material, and the tire substrate is provided with a grid structure between the tire inner ring and the tire outer ring, and the elastic filling material is filled in part of the grids of the grid structure; so that in specific implementation, on the one hand, the overall weight of the elastic composite tire can be reduced, thereby reducing the manufacturing cost, and at the same time, the elastic composite tire can absorb impact force during use and have impact resistance, that is, the impact resistance and tire weight of the elastic composite tire can be taken into account; on the other hand, the elastic filling material is embedded in the tire substrate, which can provide support and enhance the rigidity of the entire tire substrate, and at the same time, by adjusting the elasticity of the elastic filling material, a variety of elastic composite tires with different degrees of softness and hardness can be obtained, that is, targeted optimization can be performed according to different needs, thereby better meeting a variety of different usage needs.

[0022] 2. The impact-resistant driving wheel device of the present invention mainly exerts its impact-resistant effect from three aspects: absorbing impact force by the tire, isolating radial impact force, and isolating axial impact force. Among them, the absorption of impact force by the tire is mainly achieved through the structural design of the elastic composite tire, which can well balance the impact resistance and tire weight. The isolation of radial impact force and main axial impact force is achieved through the structure near the first bearing. The radial impact force suffered by the elastic composite tire is isolated at the external structure of the motor fixing seat, that is, the radial impact force will be transmitted to the motor fixing seat and the robot shell in sequence through the outer cylindrical surface of the motor fixing seat; similarly, the main axial impact force suffered by the elastic composite tire will also be transmitted to the motor fixing seat and the robot shell in sequence through the shoulder of the motor fixing seat, thereby effectively blocking the impact force from being transmitted to the output shaft of the drive motor. In addition to transmitting the motor torque, the structure near the second bearing can also isolate the axial impact force. Because the motor housing of the drive motor is fixed to the motor fixing seat by bolts, and the connecting shaft can move freely axially in the space between the second bearing and the output shaft of the drive motor, the axial impact force is isolated at the connecting shaft, thereby protecting the drive motor. Therefore, the impact-resistant driving wheel device of the present invention has good anti-drop and anti-impact performance, and can effectively prevent the impact force exerted on the elastic composite tire from being transmitted to the driving motor and causing damage to the driving motor, thereby providing good protection for the driving motor, control panel and other internal components of the body.

Brief Description of the Drawings

[0023] The present invention will be further described below in conjunction with embodiments with reference to the accompanying drawings.

[0024] Figure 1 is a front view of an elastic composite tire of the present invention;

[0025] Figure 2 It is a three-dimensional structural diagram of an elastic composite material tire of the present invention after removing the elastic filling material;

[0026] Figure 3 It is a structural diagram of an impact-resistant driving wheel device of the present invention;

[0027] Figure 4 It is a partial enlarged view of an impact-resistant driving wheel device of the present invention at the connecting shaft position.

[0028] Description of reference numerals:

[0029] Elastic composite tire 100;

[0030] Impact-resistant driving wheel device 200;

[0031] Tire substrate 1, tire inner ring 11, tire outer ring 12, grid structure 13, through grid 131, fillet 1311, non-through grid 132, panel 1321, through small hole 1322, annular partition 133, radial partition 134, anti-skid protrusion 14, first anti-skid protrusion 141, second anti-skid protrusion 142;

[0032] Elastic filling material 2, peripheral filling block 21, central filling block 22, main body 221, assembly avoidance hole 2211, extension part 222;

[0033] Wheel hub 3;

[0034] First bearing 4;

[0035] Motor fixing seat 5, bearing limiting step 51, sealing groove 511;

[0036] Driving motor 6, output shaft 61;

[0037] Second bearing 7;

[0038] Connecting shaft 8, assembly shaft hole 81, internal thread hole 82, limiting convex ring 83;

[0039] Waterproof rubber ring 9;

[0040] Steel sleeve 10. [Specific implementation method]

[0041] In order to better understand the technical solution of the present invention, the technical solution of the present invention will be described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0042] It should be noted that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicate positions or positional relationships based on the positions or positional relationships shown in the drawings, and are only for the convenience of describing these embodiments and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operate in a specific orientation. In addition, the terms "first", "second", etc., etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, features defined as "first", "second", etc. may explicitly or implicitly include one or more of the features.

[0043] Example 1

[0044] See also Figure 1 and Figure 2 As shown, the present invention is an elastic composite tire 100, which includes a tire substrate 1 and an elastic filling material 2. The hardness of the tire substrate 1 is greater than the hardness of the elastic filling material 2. Since the tire substrate 1 is used to provide basic frame support, and the elastic filling material 2 is mainly used to enhance and adjust the softness and hardness, the hardness of the tire substrate 1 needs to be greater than the hardness of the elastic filling material 2; the tire substrate 1 includes a tire inner ring 11, a tire outer ring 12, and a grid structure 13 arranged between the tire inner ring 11 and the tire outer ring 12, and some grids of the grid structure 13 are filled with the elastic filling material 2.

[0045] The present invention designs an elastic composite tire 100 including a tire substrate 1 and an elastic filling material 2, and the tire substrate 1 is provided with a grid structure 13 between the tire inner ring 11 and the tire outer ring 12, and the elastic filling material 2 is filled in part of the grids of the grid structure 13; so that in specific implementation, on the one hand, the overall weight of the elastic composite tire 100 can be reduced, thereby reducing the manufacturing cost, and at the same time, the elastic composite tire 100 can absorb impact force during use and have impact resistance, that is, the impact resistance and tire weight of the elastic composite tire 100 can be taken into account; on the other hand, the elastic filling material 2 is embedded in the tire substrate 1, which can provide support and enhance the rigidity of the entire tire substrate 1, and at the same time, by adjusting the elasticity of the elastic filling material 2, a variety of elastic composite tires 100 with different degrees of softness and hardness can be obtained, that is, targeted optimization can be performed according to different needs, thereby better meeting a variety of different usage needs.

[0046] In some embodiments of the present invention, a plurality of through grids 131 and a plurality of non-through grids 132 are formed on the grid structure 13, and the elastic filling material 2 is filled in the non-through grids 132. In the specific implementation of the present invention, the provision of the through grids 131 can, on the one hand, effectively reduce the weight and cost of the entire elastic composite tire 100, and on the other hand, enable the elastic composite tire 100 to have a certain elastic deformation ability, thereby achieving impact resistance; and the provision of the non-through grids 132 can, on the one hand, better fill and fix the elastic filling material 2, and on the other hand, ensure the rigidity of the entire tire substrate 1.

[0047] In some embodiments of the present invention, the grid structure 13 is formed by at least one annular partition 133 and a plurality of radially distributed radial partitions 134 interlaced between the inner ring 11 and the outer ring 12 of the tire, and the non-penetrating grid 132 is formed with a panel 1321 along one side of the axial direction. When the present invention is implemented, the panel 1321 can be directly formed on one side of the non-penetrating grid 132 when manufacturing the tire substrate 1; and in the same annular ring, that is, in the annular ring formed between the outer ring 12 of the tire and the annular partition 133 of the outermost circle, between two adjacent annular partitions 133, and between the annular partition 133 of the innermost circle and the inner ring 11 of the tire, the penetrating grid 131 and the non-penetrating grid 132 are alternately distributed around the circumferential direction.

[0048] As a preferred embodiment of the present invention, the grid structure 13 is formed by an annular partition 133 and a plurality of radially distributed radial partitions 134 which are staggered between the inner ring 11 and the outer ring 12 of the tire, and each of the radial partitions 134 is distributed at equal intervals, and the annular partition 133 is arranged in the middle position between the inner ring 11 and the outer ring 12 of the tire.

[0049] The present invention forms a grid structure 13 by utilizing annular partitions 133 and radial partitions 134 alternately arranged between the tire inner ring 11 and the tire outer ring 12, and alternately distributes the penetrating grids 131 and the non-penetrating grids 132 around the circumferential direction, so that the entire elastic composite tire 100 can be subjected to more uniform force.

[0050] In some embodiments of the present invention, the elastic filling material 2 includes a plurality of peripheral filling blocks 21 and a central filling block 22;

[0051] The central filling block 22 is filled in the innermost circular ring, that is, the central filling block 22 is filled in the range surrounded by the innermost circular ring partition 133, and the central filling block 22 includes a main body 221 filled in the axial side of the tire inner ring 11 and an extension portion 222 extending to each non-penetrating grid 132 in the innermost circular ring, and an assembly avoidance hole 2211 is formed in the middle of the main body 221, and the assembly avoidance hole 2211 is used to facilitate the connection between the tire base 1 and other components; the peripheral filling block 21 is filled in each non-penetrating grid 132 outside the innermost circular ring. In the specific implementation of the present invention, each panel 1321 that does not penetrate the grid 132 can be located on the same surface of the tire base 1 to facilitate the filling of the elastic filling material 2; at the same time, the thickness of the radial partition 134 and the tire outer ring 12 along the axial direction are greater than the thickness of the tire inner ring 11 along the axial direction. In this way, the tire inner ring 11 forms a recessed space on the side facing away from the panel 1321 relative to the axial end face of the radial partition 134, thereby facilitating the installation of the main body 221.

[0052] As a specific embodiment of the present invention, the elastic filling material 2 is bonded to the non-penetrating grid 132 by glue. When the present invention is implemented, glue can be first applied to the inner wall of the non-penetrating grid 132, and then the elastic filling material 2 is filled into the non-penetrating grid 132. The size of the elastic filling material 2 can be slightly larger than the non-penetrating grid 132 to ensure that the elastic filling material 2 can be better combined with the grid structure 13 after filling. At the same time, during use, the elastic filling material 2 in each non-penetrating grid 132 can be disassembled and replaced according to actual needs. Of course, the use of glue bonding is only a specific embodiment of the present invention, but the present invention is not limited thereto. In the specific implementation, other methods can also be used to fix the elastic filling material 2 on the panel 1321.

[0053] The panel 1321 is provided with a through hole 1322. After the inner wall of the non-penetrating grid 132 is coated with glue, exhaust is required in the process of filling the non-penetrating grid 132 with the elastic filling material 2. At the same time, exhaust may also be required in the process of elastic deformation of the elastic composite tire 100. Therefore, the through hole 1322 is mainly used for exhaust.

[0054] As a specific implementation of the present invention, the tire base 1 is integrally formed of hard rubber, which is not only more convenient to manufacture but also ensures that the tire base 1 can meet the support requirements.

[0055] The elastic filling material 2 is made of TPU foam. Of course, the present invention is not limited thereto. In a specific implementation, the elastic filling material 2 may also be made of other elastic materials.

[0056] In some embodiments of the present invention, the four corners of the through-grid 131 are all formed with rounded corners 1311. By forming the rounded corners 1311 at the four corners of the through-grid 131, the grid structure 13 can be strengthened to ensure that it is not easily damaged during use.

[0057] In some embodiments of the present invention, in order to make the elastic composite tire 100 have an anti-skid effect, the outer surface of the tire outer ring 12 is provided with anti-skid protrusions 14 distributed at intervals around the circumference.

[0058] As a preferred embodiment of the present invention, in order to achieve a better anti-slip effect, the anti-slip protrusions 14 include first anti-slip protrusions 141 distributed on both sides of the outer surface of the tire outer ring 12 and second anti-slip protrusions 142 distributed in the middle of the outer surface of the tire outer ring 12, and the first anti-slip protrusions 141 and the second anti-slip protrusions 142 are alternately arranged around the circumferential direction.

[0059] Example 2

[0060] See also Figures 1 to 4 As shown, the present invention provides an impact-resistant driving wheel device 200, which includes a wheel hub 3, a first bearing 4, a motor fixing seat 5, a driving motor 6, a second bearing 7, a connecting shaft 8 and an elastic composite tire 100, wherein the specific structure of the elastic composite tire 100 and the technical effects that can be obtained are exactly the same as those in Example 1, and please refer to the detailed introduction of Example 1 for details, which will not be repeated here.

[0061] The elastic composite tire 100 is sleeved and fastened on the wheel hub 3. When the present invention is implemented, bolts can be used to lock and connect the elastic composite tire 100 and the wheel hub 3 together, so that the elastic composite tire 100 can be reliably combined with the wheel hub 3 into one. At the same time, the bolt locking connection can also facilitate the disassembly and separation of the elastic composite tire 100 and the wheel hub 3, so as to facilitate replacement, maintenance and other operations.

[0062] The outer ring of the first bearing 4 is assembled in the wheel hub 3 with an interference fit, and the inner ring of the first bearing 4 is assembled on the motor fixing seat 5 with an interference fit. The first bearing 4 is designed to isolate the radial impact force and the main axial impact force; one end of the connecting shaft 8 is connected to the wheel hub 3, so that the connecting shaft 8 can drive the wheel hub 3 and the elastic composite tire 100 to rotate, and the other end of the connecting shaft 8 is inserted into the motor fixing seat 5, and the inner ring of the second bearing 7 is assembled on the connecting shaft 8 with a clearance fit, and the outer ring of the second bearing 7 is assembled in the motor fixing seat 5 with an interference fit. Because the inner ring of the second bearing 7 and the connecting shaft 8 are clearance fit, the connecting shaft 8 can move axially relative to the second bearing 7. The connecting shaft 8 is designed to transmit the motor torque and isolate the axial impact force at the same time; the drive motor 6 is installed in the motor fixing seat 5, and specifically, the motor housing of the drive motor 6 can be fixed to the motor fixing seat 5 by bolts. The connecting shaft 8 is formed with an assembly shaft hole 81 at the end facing the drive motor 6, and the output shaft 61 of the drive motor 6 is inserted into the assembly shaft hole 81, and the connecting shaft 8 and the output shaft 61 of the drive motor 6 are matched with special-shaped holes and can be axially movable. Because the connecting shaft 8 and the output shaft 61 of the drive motor 6 are matched with special-shaped holes, the output shaft 61 of the drive motor 6 can drive the connecting shaft 8 to rotate, and the connecting shaft 8 can also axially move relative to the output shaft 61 of the drive motor 6.

[0063] The impact-resistant driving wheel device 200 of the present invention mainly exerts impact-resistant effects from three aspects: tire absorption of impact force, isolation of radial impact force, and isolation of axial impact force. Among them, the tire absorption of impact force is mainly achieved through the structural design of the above-mentioned elastic composite tire 100, which can well balance the impact resistance and tire weight. The isolation of radial impact force and main axial impact force is achieved through the structure near the first bearing 4. The radial impact force received by the elastic composite tire 100 is isolated in the external structure of the motor fixing seat 5, that is, the radial impact force will be transmitted to the motor fixing seat 5 and the robot shell in turn through the outer cylindrical surface of the motor fixing seat 5; similarly, the main axial impact force received by the elastic composite tire 100 will also be transmitted to the motor fixing seat 5 and the robot shell in turn through the shaft shoulder of the motor fixing seat 5, thereby effectively blocking the impact force from being transmitted to the output shaft 61 of the drive motor 6. The structure near the second bearing 7 can not only transmit the motor torque but also isolate the axial impact force. Because the motor housing of the drive motor 6 is fixed to the motor fixing seat 5 by bolts, and the connecting shaft 8 can move freely axially in the space between the second bearing 7 and the output shaft 61 of the drive motor 6, the axial impact force is isolated at the connecting shaft 8, thereby protecting the drive motor 6. Therefore, the impact-resistant driving wheel device 200 of the present invention has good anti-fall and impact resistance, and can effectively prevent the impact force of the elastic composite tire 100 from being transmitted to the drive motor 6 and causing damage to the drive motor 6, thereby protecting the drive motor 6, the control panel and other internal parts of the body.

[0064] In some embodiments of the present invention, the impact-resistant driving wheel device 200 further includes a waterproof rubber ring 9, a steel sleeve 10 and bolts (not shown);

[0065] The steel sleeve 10 is arranged at the center position of the wheel hub 3, and one end of the connecting shaft 8 is assembled in the steel sleeve 10 with a clearance fit. When the present invention is implemented, the steel sleeve 10 and the wheel hub 3 are assembled and fixed together through special-shaped holes, so that the steel sleeve 10 cannot rotate relative to the wheel hub 3, and the connecting shaft 8 and the steel sleeve 10 can be assembled together axially through the special-shaped holes, so that the connecting shaft 8 can only drive the steel sleeve 10 and the wheel hub 3 to rotate together, but cannot rotate independently relative to the steel sleeve 10; because the connecting shaft 8 will cause wear to the wheel hub 3 during rotation, for this reason, the present invention adopts the method of setting the steel sleeve 10 at the center position of the wheel hub 3, and assembling the connecting shaft 8 and the steel sleeve 10 with a clearance fit, which can effectively avoid the connecting shaft 8 from causing wear to the wheel hub 3 during rotation, thereby improving the service life of the wheel hub 3.

[0066] The connecting shaft 8 is formed with an internal threaded hole 82 at one end facing the wheel hub 3, and the bolt passes through the steel sleeve 10 and is screwed together with the connecting shaft 8, so that the wheel hub 3 is assembled with the connecting shaft 8 through the steel sleeve 10 and the bolt, and a distance is left between the bolt and the output shaft 61 of the drive motor 6, that is, the bolt will not contact the output shaft 61 of the drive motor 6 during operation, so as to avoid the bolt affecting the output shaft 61 of the drive motor 6;

[0067] A bearing limiting step 51 is formed in the motor fixing seat 5 at one end close to the steel sleeve 10, and the waterproof rubber ring 9 is arranged between the connecting shaft 8 and the bearing limiting step 51. The waterproof rubber ring 9 can play a waterproof role to prevent external water from entering the drive motor 6 during operation and affecting the drive motor 6; the connecting shaft 8 is provided with a limiting convex ring 83 at one end close to the drive motor 6. When the present invention is in operation, the connecting shaft 8 can be limited by the limiting convex ring 83 to ensure that the connecting shaft 8 will not excessively move axially during use. When the present invention is implemented in detail, a sealing groove 511 is sunken on the table surface of the bearing limiting step 51, and the waterproof rubber ring 9 is sleeved on the sealing groove 511, and the waterproof rubber ring 9 is exposed to the outside of the sealing groove 511, so that the waterproof rubber ring 9 can press against the outer wall of the connecting shaft 8 after assembly, thereby achieving a sealing effect.

[0068] Although the specific implementation modes of the present invention are described above, those skilled in the art should understand that the specific implementation modes described are only illustrative and are not intended to limit the scope of the present invention. Equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present invention should be included in the scope of protection of the claims of the present invention.

Claims

1. An elastic composite tire, characterized in that: It includes a tire base and an elastic filling material, wherein the hardness of the tire base is greater than the hardness of the elastic filling material; the tire base includes a tire inner ring, a tire outer ring and a grid structure arranged between the tire inner ring and the tire outer ring, and part of the grids of the grid structure are filled with the elastic filling material.

2. The elastic composite tire according to claim 1, characterized in that: The grid structure is formed with a plurality of through grids and a plurality of non-through grids, and the elastic filling material is filled in the non-through grids.

3. An elastic composite tire according to claim 2, characterized in that: The grid structure is formed by at least one annular partition plate staggered between the inner ring and the outer ring of the tire and a plurality of radially distributed radial partition plates. The non-penetrating grid is formed with a panel along one side of the axial direction, and within the same annular ring, the penetrating grid and the non-penetrating grid are alternately distributed around the circumferential direction.

4. The elastic composite tire according to claim 3, characterized in that: The elastic filling material includes a plurality of peripheral filling blocks and a central filling block; The central filling block is filled in the innermost circular ring, and the central filling block includes a main body portion filled in the axial side of the inner ring of the tire and an extension portion extending into each non-penetrating grid in the innermost circular ring, and an assembly avoidance hole is formed in the middle of the main body portion; the peripheral filling block is filled in each non-penetrating grid outside the innermost circular ring.

5. The elastic composite tire according to claim 3, characterized in that: The elastic filling material is bonded in the non-penetrating grid by glue, and the panel is provided with penetrating small holes.

6. The elastic composite tire according to claim 1, characterized in that: The tire base is integrally formed of hard rubber, and the elastic filling material is TPU foam.

7. The elastic composite tire according to claim 1, characterized in that: The four corners of the through grid are all formed with rounded corners.

8. The elastic composite tire according to claim 1, characterized in that: The outer surface of the outer ring of the tire is provided with anti-skid protrusions spaced around the circumference.

9. An impact-resistant driving wheel device, characterized in that: It comprises a wheel hub, a first bearing, a motor fixing seat, a driving motor, a second bearing, a connecting shaft and an elastic composite tire as claimed in any one of claims 1 to 8; The elastic composite tire is sleeved and fastened on the wheel hub; the outer ring of the first bearing is assembled in the wheel hub with an interference fit, and the inner ring of the first bearing is assembled in the motor fixing seat with an interference fit; one end of the connecting shaft is connected to the wheel hub, and the other end of the connecting shaft is inserted into the motor fixing seat, the inner ring of the second bearing is assembled on the connecting shaft with a clearance fit, and the outer ring of the second bearing is assembled in the motor fixing seat with an interference fit; the drive motor is installed in the motor fixing seat, and the connecting shaft is formed with an assembly shaft hole at the end facing the drive motor, and the output shaft of the drive motor is inserted into the assembly shaft hole, and the connecting shaft and the output shaft of the drive motor are matched with special-shaped holes and can be axially movably connected.

10. An impact-resistant driving wheel device according to claim 9, characterized in that: It also includes waterproof rubber rings, steel sleeves and bolts; The steel sleeve is arranged at the center of the wheel hub, and one end of the connecting shaft is fitted in the steel sleeve with clearance; an internal threaded hole is formed at the end of the connecting shaft facing the wheel hub, and the bolt passes through the steel sleeve and is screwed together with the connecting shaft, and a distance is left between the bolt and the output shaft of the driving motor; A bearing limiting step is formed in the motor fixing seat at one end close to the steel sleeve, and the waterproof rubber ring is arranged between the connecting shaft and the bearing limiting step; a limiting convex ring is arranged at one end of the connecting shaft close to the driving motor.

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