Elastic composite tire and impact-resistant drive wheel device

Abstract

The application provides an elastic composite tire and an anti-impact driving wheel device. The elastic composite tire comprises a tire base and an elastic filling material, the hardness of the tire base is greater than that of the elastic filling material; the tire base 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 the elastic filling material is filled in part of the grid structure. The application also provides an anti-impact driving wheel device. The anti-impact driving wheel device mainly absorbs impact force from the tire, isolates radial impact force and axial impact force, has good anti-falling and anti-impact performance, can effectively prevent the impact force on the elastic composite tire from being transmitted to the driving motor and causing damage to the driving motor, and can well protect the internal components of the driving motor and the control board.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of robots, in particular to an elastic composite tire and an anti-impact driving wheel device. BACKGROUND

[0002] With the continuous progress of robot technology and automation technology, there is an increasing demand for robots or mechanical systems that can work stably in complex and harsh environments. These systems need to have good impact resistance to ensure normal operation when subjected to external impact and reduce damage to themselves.

[0003] 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 placed on the anti-throw, anti-impact, and anti-fall performance of robots. For example, a throwing robot can withstand the impact force generated when it is thrown from a height of several meters and can transmit video, audio or other information back to the target area in a controlled state after deployment. However, the anti-impact performance of the driving wheel structure of existing robots is still poor, and the impact force is easily transmitted to the driving motor and causes damage to the driving motor. In view of the above problems, the present application has been developed after in-depth research on the problem. SUMMARY

[0004] The technical problem to be solved by the present application is to provide an elastic composite tire and an anti-impact driving wheel device to solve the problem of poor anti-impact performance of the driving wheel structure of existing robots, which easily transmits impact force to the driving motor and causes damage to the driving motor.

[0005] The present application is implemented as follows:

[0006] In a first aspect, an elastic composite tire includes a tire base and an elastic filling material, the hardness of the tire base being 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 disposed between the tire inner ring and the tire outer ring, and part of the grid structure is filled with the elastic filling material.

[0007] Further, the grid structure has a plurality of through grids and a plurality of non-through grids, and the elastic filling material is filled in the non-through grids.

[0008] Further, the grid structure is formed by at least one circular ring partition plate and a plurality of radially distributed radial partition plates, which are arranged between the tire inner ring and the tire outer ring, the non-through grid has a panel formed on one side along the axial direction, and in the same circular ring, the through grid and the non-through grid are alternately arranged around the circumferential direction.

[0009] Further, the elastic filling material comprises a plurality of peripheral filling blocks and a central filling block.

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

[0011] Further, the elastic filling material is bonded to the inner side of the panel by glue, and a through hole is formed in the panel.

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

[0013] Further, the four corners of the penetrating grid are formed with rounded corners.

[0014] Further, the outer surface of the outer ring of the tire is distributed with anti-skid convex points around the circumferential direction.

[0015] In the second aspect, an anti-impact driving wheel device comprises a hub, a first bearing, a motor fixing seat, a driving motor, a second bearing, a connecting shaft, and the above-mentioned elastic composite material tire.

[0016] The elastic composite material tire is sleeved and fastened on the hub; the outer ring of the first bearing is assembled in the hub by interference fit, and the inner ring of the first bearing is assembled on the motor fixing seat by interference fit; one end of the connecting shaft is connected with the hub, 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 by clearance fit, and the outer ring of the second bearing is assembled in the motor fixing seat by interference fit; the driving motor is installed in the motor fixing seat, the connecting shaft is formed with an assembly shaft hole at the end facing the driving motor, the output shaft of the driving motor is inserted into the assembly shaft hole, and the connecting shaft and the output shaft of the driving motor are connected by profile hole fit and can axially move.

[0017] Further, it further comprises a waterproof rubber ring, a steel sleeve, and a bolt.

[0018] The steel sleeve is arranged at the center position of the hub, and one end of the connecting shaft is assembled in the steel sleeve by clearance fit; the connecting shaft is formed with an internal thread hole at the end facing the hub, the bolt passes through the steel sleeve and is screwed together with the connecting shaft, and a space is left between the bolt and the output shaft of the driving motor;

[0019] The bearing limiting step is formed in the motor fixing seat near one end of the steel sleeve, and the waterproof rubber ring is arranged between the connecting shaft and the bearing limiting step.

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

[0021] 1. By designing the elastic composite tire to include a tire base body and an elastic filling material, and arranging a grid structure between the inner ring and the outer ring of the tire base body and filling the elastic filling material in part of the grid structure, in specific implementation, on one hand, the overall weight of the elastic composite tire can be reduced, thereby reducing the manufacturing cost, and the elastic composite tire can absorb impact force in use and has impact resistance, that is, the impact resistance and the weight of the tire can be considered; on the other hand, the elastic filling material is embedded on the tire base body, which can provide support force and enhance the rigidity of the entire tire base body, and by adjusting the elasticity of the elastic filling material, elastic composite tires with different degrees of softness and hardness can be obtained, that is, targeted optimization can be performed according to different requirements, thereby better meeting various different use requirements.

[0022] 2. The anti-impact driving wheel device mainly plays an anti-impact effect from three aspects of absorbing impact force by the tire, isolating radial impact force, and isolating axial impact force. Among them, the tire absorbs impact force mainly through the structural design of the elastic composite tire, which can well consider the impact resistance and the weight of the tire. The isolation of radial impact force and the main axial impact force is realized through the structure near the first bearing, the radial impact force borne by the elastic composite tire is isolated by the external structure of the motor fixing seat, that is, the radial impact force is sequentially transmitted to the motor fixing seat and the robot shell through the outer cylindrical surface of the motor fixing seat; similarly, the main axial impact force borne by the elastic composite tire is also sequentially transmitted to the motor fixing seat and the robot shell through the shaft shoulder of the motor fixing seat, thereby effectively blocking the transmission of the impact force to the output shaft of the driving motor. The structure near the second bearing can not only transmit the motor torque but also isolate the axial impact force, because the motor shell of the driving motor is fixed on the motor fixing seat by bolts, and the connecting shaft can move axially freely in the space between the second bearing and the output shaft of the driving motor, the axial impact force is isolated at the connecting shaft, thereby protecting the driving motor. Therefore, the anti-impact driving wheel device has good anti-falling and anti-impact performance, can effectively prevent the impact force borne by the elastic composite tire from being transmitted to the driving motor and causing damage to the driving motor, thereby protecting the driving motor, the control board and other internal components of the machine body. BRIEF DESCRIPTION OF DRAWINGS

[0023] The application will be further described below with reference to the accompanying drawings and embodiments.

[0024] Figure 1 is a front view of a resilient composite tire according to the application;

[0025] Figure 2 is a perspective view of a resilient composite tire according to the application after removal of the resilient filler material;

[0026] Figure 3 is a structural view of an impact-resistant drive wheel device according to the application;

[0027] Figure 4 is a partial enlarged view of an impact-resistant drive wheel device according to the application at the position of the connecting shaft.

[0028] Explanation of reference signs:

[0029] resilient composite tire 100;

[0030] impact-resistant drive wheel device 200;

[0031] tire base 1, tire inner ring 11, tire outer ring 12, grid structure 13, through grid 131, rounded corner 1311, non-through grid 132, panel 1321, through small hole 1322, circular ring partition 133, radial partition 134, anti-skid bump 14, first anti-skid bump 141, second anti-skid bump 142;

[0032] resilient filler material 2, peripheral filler block 21, central filler block 22, main body part 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] drive 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.

DETAILED DESCRIPTION

[0041] In order to better understand the technical solutions of the application, the technical solutions of the application will be described in detail below in combination with the drawings and specific embodiments of the specification.

[0042] It should be noted that the terms "center", "longitudinal", "transverse", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing these embodiments and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation. In addition, the terms "first", "second", and the like are only for description purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined with "first", "second", and the like can be explicitly or implicitly included one or more of the features.

[0043] Embodiment 1

[0044] Referring to Figure 1 and Figure 2 The elastic composite tire 100 includes a tire base body 1 and an elastic filling material 2, the hardness of the tire base body 1 is greater than the hardness of the elastic filling material 2, the tire base body 1 is used to provide basic frame support, and the elastic filling material 2 is mainly used to enhance and adjust the hardness, so the hardness of the tire base body 1 needs to be greater than the hardness of the elastic filling material 2; the tire base body 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 the elastic filling material 2 is filled in part of the grid of the grid structure 13.

[0045] The elastic composite tire 100 includes a tire base body 1 and an elastic filling material 2, and the tire base body 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 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 in the process of use, has impact resistance, that is, the impact resistance and tire weight of the elastic composite tire 100 can be considered; on the other hand, the elastic filling material 2 is embedded on the tire base body 1, which can not only provide support and enhance the stiffness of the entire tire base body 1, but also obtain a variety of elastic composite tires 100 with different degrees of hardness by adjusting the elasticity of the elastic filling material 2, that is, targeted optimization can be performed according to different needs, thereby better meeting a variety of different use requirements.

[0046] In some embodiments of the present application, the grid structure 13 is formed with a plurality of through grids 131 and a plurality of non-through grids 132, and the elastic filling material 2 is filled in the non-through grids 132. In the implementation of the present application, the through grids 131 can effectively reduce the weight and cost of the entire elastic composite tire 100, and can also enable the elastic composite tire 100 to have a certain elastic deformation capacity, thereby achieving impact resistance; and the non-through grids 132 can better fix the elastic filling material 2, and can also ensure the rigidity of the entire tire base 1.

[0047] In some embodiments of the present application, the grid structure 13 is formed by at least one annular partition plate 133 and a plurality of radially distributed radial partition plates 134 which are arranged between the inner ring 11 and the outer ring 12 of the tire, and the non-through grid 132 is formed with a panel 1321 on one axial side, and in the implementation of the present application, the panel 1321 can be directly formed on one side of the non-through grid 132 when the tire base 1 is manufactured; and the through grid 131 and the non-through grid 132 are alternately arranged around the circumferential direction in the same annular ring, i.e., between the outer ring 12 and the outermost annular partition plate 133, between two adjacent annular partition plates 133, and between the innermost annular partition plate 133 and the inner ring 11.

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

[0049] In the implementation of the present application, the grid structure 13 is formed by the annular partition plate 133 and the radial partition plate 134 which are arranged between the inner ring 11 and the outer ring 12 of the tire, and the through grid 131 and the non-through grid 132 are alternately arranged around the circumferential direction, so that the entire elastic composite tire 100 can be more uniformly stressed.

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

[0051] The center filling block 22 is filled in the annular ring of the innermost circle, that is, the center filling block 22 is filled in the range surrounded by the annular partition 133 of the innermost circle, and the center filling block 22 comprises a main body part 221 filled in the axial one side of the inner ring 11 of the tire and an extension part 222 extending into each non-penetrating grid 132 in the innermost circle annular ring, and a mounting avoiding hole 2211 is formed in the middle of the main body part 221, which is used for conveniently connecting the tire base body 1 with other components; the peripheral filling block 21 is filled in each non-penetrating grid 132 outside the innermost circle annular ring. In the specific implementation of the present application, the panel 1321 of each non-penetrating grid 132 is located on the same side of the tire base body 1, so as to facilitate the filling of the elastic filling material 2; and the thickness of the radial partition 134 and the outer ring 12 of the tire along the axial direction is greater than the thickness of the inner ring 11 of the tire along the axial direction, so that a recessed space is formed on the side of the inner ring 11 of the tire opposite to the panel 1321 relative to the axial end surface of the radial partition 134, thereby facilitating the installation of the main body part 221.

[0052] As a specific embodiment of the present application, the elastic filling material 2 is adhered in the non-penetrating grid 132 by glue. In the specific implementation of the present application, the inner wall of the non-penetrating grid 132 can be coated with glue first, and then the elastic filling material 2 is filled into the non-penetrating grid 132, and the size of the elastic filling material 2 can be slightly larger than that of the non-penetrating grid 132, so as to ensure that the elastic filling material 2 can be better combined with the grid structure 13 after filling; and the elastic filling material 2 in each non-penetrating grid 132 can also be disassembled and replaced according to actual needs during use. Of course, the use of glue is only a specific embodiment of the present application, but the present application is not limited thereto, and other ways can also be used to fix the elastic filling material 2 on the panel 1321 in the specific implementation.

[0053] The panel 1321 is provided with a penetrating small hole 1322. After the inner wall of the non-penetrating grid 132 is coated with glue, exhaust is needed during the filling of the elastic filling material 2 into the non-penetrating grid 132, and exhaust can also be needed during the elastic deformation of the elastic composite tire 100, so the penetrating small hole 1322 is mainly used for exhaust.

[0054] As a specific embodiment of the present application, the tire base body 1 is integrally formed by hard rubber, so that the manufacturing is more convenient, and the tire base body 1 can meet the support requirement.

[0055] The elastic filling material 2 is TPU foam, of course, the present application is not limited thereto, and other materials with elasticity can also be used for the elastic filling material 2 in the specific implementation.

[0056] In some embodiments of the present application, the four corners of the through grid 131 are formed with rounded corners 1311. By forming the four corners of the through grid 131 with rounded corners 1311, the grid structure 13 can be reinforced to prevent damage during use.

[0057] In some embodiments of the present application, in order to provide the elastic composite tire 100 with anti-skid effect, the outer surface of the tire outer ring 12 is provided with anti-skid protrusions 14 distributed at intervals in the circumferential direction.

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

[0059] Embodiment 2

[0060] Please refer to Figures 1 to 4 As shown in the drawings, the anti-impact driving wheel device 200 of the present application includes a 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. The specific structure of the elastic composite tire 100 and the technical effects achieved are exactly the same as those of Embodiment 1, and detailed description is given in Embodiment 1, which will not be repeated here.

[0061] The elastic composite tire 100 is sleeved and fastened on the hub 3. In the specific implementation of the present application, bolts can be used to lock and connect the elastic composite tire 100 and the hub 3 together, so that the elastic composite tire 100 and the hub 3 can be reliably combined into one body. At the same time, the use of bolt locking and connection can also facilitate the disassembly and separation of the elastic composite tire 100 and the 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 in interference fit, the inner ring of the first bearing 4 is assembled on the motor fixing base 5 in interference fit, the first bearing 4 is designed to isolate radial impact force and main axial impact force; one end of the connecting shaft 8 is connected with the wheel hub 3, so that the connecting shaft 8 can drive the wheel hub 3 and the elastic composite tire 100 to rotate, the other end of the connecting shaft 8 is inserted into the motor fixing base 5, the inner ring of the second bearing 7 is assembled on the connecting shaft 8 in clearance fit, the outer ring of the second bearing 7 is assembled in the motor fixing base 5 in interference fit, the inner ring of the second bearing 7 is in clearance fit with the connecting shaft 8, so that the connecting shaft 8 can axially move relative to the second bearing 7, the second bearing 7 and the connecting shaft 8 are designed to transmit motor torque and isolate axial impact force; the driving motor 6 is installed in the motor fixing base 5, specifically, the motor shell of the driving motor 6 can be bolted on the motor fixing base 5, the connecting shaft 8 is formed with an assembly shaft hole 81 at one end facing the driving motor 6, the output shaft 61 of the driving motor 6 is inserted into the assembly shaft hole 81, and the connecting shaft 8 and the output shaft 61 of the driving motor 6 are in profile hole fit and can axially move, the output shaft 61 of the driving 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 driving motor 6.

[0063] The anti-impact driving wheel device 200 of the present application mainly plays the anti-impact effect from three aspects of absorbing impact force from the tire, isolating radial impact force and isolating axial impact force. Among them, the tire absorbs impact force mainly through the structural design of the above-mentioned elastic composite tire 100, which can well balance the anti-impact performance and the weight of the tire. The isolation of radial impact force and main axial impact force is realized by the structure near the first bearing 4. The radial impact force borne by the elastic composite tire 100 is isolated by the outer structure of the motor fixing seat 5, that is, the radial impact force is sequentially transmitted to the motor fixing seat 5 and the robot shell through the outer surface of the motor fixing seat 5. Similarly, the main axial impact force borne by the elastic composite tire 100 is also sequentially transmitted to the motor fixing seat 5 and the robot shell through the shaft shoulder of the motor fixing seat 5, thereby effectively blocking the transmission of impact force to the output shaft 61 of the driving motor 6. The structure near the second bearing 7 can not only transmit the motor torque but also isolate the axial impact force. Since the motor housing of the driving motor 6 is fixed on the motor fixing seat 5 by bolts, and the connecting shaft 8 can move axially freely in the space between the second bearing 7 and the output shaft 61 of the driving motor 6, the axial impact force is isolated at the connecting shaft 8, thereby protecting the driving motor 6. Therefore, the anti-impact driving wheel device 200 of the present application has good anti-falling and anti-impact performance, can effectively prevent the impact force borne by the elastic composite tire 100 from being transmitted to the driving motor 6 and causing damage to the driving motor 6, thereby protecting the driving motor 6, the control board and other internal components of the robot body.

[0064] In some embodiments of the present application, the anti-impact driving wheel device 200 further comprises 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 hub 3, and one end of the connecting shaft 8 is clearance-fitted in the steel sleeve 10. In the specific implementation of the present application, the steel sleeve 10 and the hub 3 are fixed together through the special-shaped hole fitting, so that the steel sleeve 10 cannot rotate relative to the hub 3. The connecting shaft 8 and the steel sleeve 10 are axially movable together through the special-shaped hole fitting, so that the connecting shaft 8 can only rotate together with the steel sleeve 10 and the hub 3, and cannot rotate independently relative to the steel sleeve 10. Since the connecting shaft 8 will cause wear to the hub 3 during rotation, the present application sets the steel sleeve 10 at the center position of the hub 3 and clearance-fits the connecting shaft 8 and the steel sleeve 10 together, which can effectively prevent the connecting shaft 8 from causing wear to the hub 3 during rotation, thereby prolonging the service life of the hub 3.

[0066] The connecting shaft 8 is formed with an internally threaded hole 82 at one end facing the wheel hub 3, the bolt passes through the steel sleeve 10 and is screwed with the connecting shaft 8 together, so as to realize the wheel hub 3 through the steel sleeve 10 and the bolt and the connecting shaft 8 assembled together, and the bolt and the output shaft 61 of the driving motor 6 are spaced, that is, the bolt does not contact the output shaft 61 of the driving motor 6 in the working process, so as to avoid the bolt affecting the output shaft 61 of the driving motor 6;

[0067] The bearing limiting step 51 is formed in the motor fixing seat 5 at one end close to the steel sleeve 10, 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, so as to avoid the external water entering the driving motor 6 and affecting the driving motor 6 in the working process; the connecting shaft 8 is provided with a limiting convex ring 83 at one end close to the driving motor 6, the connecting shaft 8 can be limited by the limiting convex ring 83 in the specific working process, so as to ensure that the connecting shaft 8 does not move excessively in the axial direction in the working process. In the specific implementation of the present application, the sealing groove 511 is arranged on the surface of the bearing limiting step 51, the waterproof rubber ring 9 is arranged 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 abut against the outer wall of the connecting shaft 8 after assembly, thereby realizing the sealing effect.

[0068] Although the specific embodiments of the present application are described above, those skilled in the art should understand that the specific examples described are only illustrative, and are not intended to limit the scope of the present application, and equivalent modifications and changes made by those skilled in the art in accordance with the spirit of the present application should be covered within the scope of the claims of the present application.

Claims

1. An elastomeric composite tire characterized by: The tire body and the elastic filling material, the hardness of the tire body is greater than the hardness of the elastic filling material; the tire body 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 the grid structure is filled with the elastic filling material in part of the grid; 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; the grid structure is formed by at least one circular ring partition plate and a plurality of radially distributed radial partition plates which are arranged between the tire inner ring and the tire outer ring, and the non-through grid is formed with a panel on one side along the axial direction, and in the same circular ring, the through grid and the non-through grid are arranged alternately around the circumferential direction; 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 part filled on one side of the axial direction of the tire inner ring and an extension part extending into each non-through grid in the innermost circular ring, and a fitting avoidance hole is formed in the middle of the main body part; the peripheral filling block is filled in each non-through grid outside the innermost circular ring.

2. An elastomeric composite tire as in claim 1, wherein: The elastic filling material is bonded in the non-through grid by glue, and a through hole is formed on the panel.

3. An elastomeric composite tire as in claim 1, wherein: The tire body is integrally formed by hard rubber, and the elastic filling material is TPU foam.

4. A flexible composite tire as in claim 1, wherein: The four corners of the through grid are formed with rounded corners.

5. An elastomeric composite tire as in claim 1, wherein: The outer surface of the tire outer ring is distributed with anti-skid convex points around the circumferential direction.

6. An impact resistant drive wheel apparatus characterized by: The hub, the first bearing, the motor fixing seat, the driving motor, the second bearing, the connecting shaft and the elastic composite material tire according to any one of claims 1-5; The elastic composite material tire is sleeved and fastened on the hub; the outer ring of the first bearing is assembled in the hub by interference fit, and the inner ring of the first bearing is assembled on the motor fixing seat by interference fit; one end of the connecting shaft is connected with the hub, 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 by clearance fit, and the outer ring of the second bearing is assembled in the motor fixing seat by interference fit; the driving motor is installed in the motor fixing seat, the connecting shaft is formed with an assembly shaft hole at the end facing the driving motor, the output shaft of the driving motor is inserted into the assembly shaft hole, and the connecting shaft and the output shaft of the driving motor are connected by special-shaped hole fit and can axially move.

7. A shock absorbing drive wheel assembly as claimed in claim 6 wherein: It also includes a waterproof rubber ring, a steel sleeve and a bolt; The steel sleeve is arranged at the center of the hub, and one end of the connecting shaft is assembled in the steel sleeve by clearance fit; the connecting shaft is formed with an internal thread hole at the end facing the hub, the bolt passes through the steel sleeve and is screwed together with the connecting shaft, and a space is left between the bolt and the output shaft of the driving motor; The motor fixing seat is formed with a bearing limiting step at the end close to the steel sleeve, and the waterproof rubber ring is arranged between the connecting shaft and the bearing limiting step; the connecting shaft is provided with a limiting convex ring at the end close to the driving motor.

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