CN112185730A

CN112185730A - Combined key and automatic walking device with same

Info

Publication number: CN112185730A
Application number: CN201910583750.9A
Authority: CN
Inventors: 薛玉雷; 王光鑫; 周国扬; 刘楷
Original assignee: Nanjing Sumec Intelligent Technology Co Ltd
Current assignee: Nanjing Sumec Intelligent Technology Co Ltd
Priority date: 2019-07-01
Filing date: 2019-07-01
Publication date: 2021-01-05

Abstract

The invention provides a combined key and an automatic walking device with the same. The combined key comprises an unlocking key, a working key and a limiting and locking device. The limit locking device comprises a locking key element driven by an unlocking key or a working key. The locking key element is arranged close to the limiting boss or the limiting groove on the back of the working key or the unlocking key in the initial state, and the working key is prevented from being operated by mistake. In the process that the unlocking key slides to gradually separate from the initial state, the locking key element slides relative to the limiting boss or the limiting groove to gradually separate from the limiting boss or the limiting groove; or, in the process that the unlocking key slides to gradually separate from the initial state, the locking key element is driven by the unlocking key or the working key to gradually separate from the limiting boss or the limiting groove. Therefore, the invention releases the limit of the working key, and the working key can be pressed to drive the automatic walking device to act. The user can unlock the automatic walking device only by keeping the external force applied to the unlocking key, so that the danger caused by misoperation is avoided.

Description

Combined key and automatic walking device with same

Technical Field

The invention belongs to the field of garden tools, and particularly relates to a combined key and an automatic walking device with the same.

Background

Automatic traveling devices such as intelligent automatic traveling devices have been widely used, and are also used in many households. The operation panel of a conventional automatic walking device usually includes work keys such as a HOME key, a START key, and a stop key. And after the HOME key is pressed, the automatic walking device returns to the base station, after the START key is pressed, the automatic walking device STARTs to execute mowing work, and after the stop key is pressed, the automatic walking device stops working. Generally, the automatic walking device is configured to directly press the corresponding key to make the corresponding action of the corresponding driving device. However, since the automatic traveling device can be driven to operate only by one-step operation in such a key pressing manner, there is a risk of erroneous operation. When misoperation occurs, the automatic walking device is easy to cause danger to people around.

The prior art adds a locking design to the key. The prior art is generally designed as: an unlocking key is arranged on the operation panel, unlocking can be realized by pressing the unlocking key, and the working keys such as the HOME key and the START key can be unlocked by pressing the unlocking key once. Therefore, after the user presses the unlocking key once, the user can normally operate the HOME key, the START key and other working keys. However, the arrangement still has potential safety hazard, and the working key can be operated at will only by touching the unlocking key during misoperation. Such a guard design still presents a risk of malfunction.

Disclosure of Invention

Aiming at the defects of the prior art, the invention provides a combined key and an automatic walking device with the combined key, wherein when an unlocking key in the combined key is in an initial state (locking state), a working key is locked to prevent misoperation on the working key; when the unlocking state is switched, external force is applied to the unlocking key all the time, the working key can be pressed down, the automatic walking device is driven to move, and the danger caused by misoperation is effectively avoided.

In order to achieve the purpose, the combined key provided by the invention comprises an unlocking key and a working key, wherein the unlocking key realizes the locking and unlocking of the working key through self mechanical movement, and the working key triggers a function instruction through self mechanical movement.

Optionally, the above combination key further includes: a key-locking element arranged for synchronous mechanical movement with the unlocking key; the limiting boss is arranged to mechanically move synchronously with the working key; when the unlocking key is in an initial state, the locking key element and the limiting boss are arranged in a close manner; and in the process that the self mechanical motion of the unlocking key is gradually separated from the initial state, the locking key element is gradually separated from the limiting boss.

Optionally, in the above combination key, the key-locking element is configured to linearly slide synchronously with the key-unlocking element; the limiting boss is arranged to rotate synchronously with the working key; when the unlocking key is in an initial state, the upper end face of the locking key element abuts against the lower end face of the limiting boss.

Optionally, in the above combination key, an unlocking notch is formed in the front end of the limiting boss, and after the locking element is separated from the limiting boss, the locking element gradually enters the unlocking notch along with the rotation process of the working key.

Optionally, in the above combination key, the key-locking element is configured to rotate synchronously with the key-unlocking element; the limiting boss and the working key slide linearly synchronously; when the unlocking key is in an initial state, the locking key element is abutted against the limiting boss.

Optionally, the above-mentioned combination key further includes an unlocking notch, which is disposed above the limiting boss; in the process that the unlocking key rotates and gradually departs from the initial state, the locking key element gradually departs from the linear sliding path range of the limiting boss; after the locking key element is separated from the limiting boss, the locking key element gradually enters the unlocking notch along with the rotation of the unlocking key.

Optionally, in the above combination key, the key-locking element is configured to linearly slide synchronously with the operating key; the limiting boss and the unlocking key rotate synchronously; when the unlocking key is in an initial state, the locking key element is abutted against the limiting boss.

Optionally, the above combination key further includes an unlocking notch disposed above the limiting boss, and after the key locking element is disengaged from the limiting boss, the key locking element gradually enters the unlocking notch along with the rotation of the unlocking key.

Optionally, in the above combination key, the key-locking element is configured to linearly slide up and down in synchronization with the unlocking key; the limiting boss and the working key slide linearly synchronously; when the unlocking key is in an initial state, the front side surface of the limiting boss abuts against the rear side surface of the locking key element.

Optionally, the above combination key further includes a sliding rod, a sliding groove is further disposed on the back or the side of the unlocking key, and the sliding rod is mounted in the sliding groove.

Optionally, in the above combination key, the key-locking element is configured to linearly slide synchronously with the key-unlocking element; the limiting boss and the working key slide linearly up and down synchronously; when the unlocking key is in an initial state, the upper end face of the locking key element abuts against the lower end face of the limiting boss.

Optionally, in the above combination key, an unlocking notch is formed in the front end of the limiting boss, and after the locking element is separated from the limiting boss, the locking element gradually enters the unlocking notch along with the downward sliding process of the working key.

Optionally, the above combination key further includes: a key locking element arranged for synchronous mechanical movement with the operating key; a limit groove which is in synchronous mechanical motion with the unlocking key; when the unlocking key is in an initial state, the locking key element is positioned in the limiting groove; in the process that the mechanical movement of the unlocking key gradually departs from the initial state, the locking key element gradually departs from the limiting groove.

Optionally, in the above combination key, the key locking element is configured to rotate synchronously with the operating key; the limiting groove is arranged to slide linearly synchronously with the unlocking key; the rear end of the limiting groove is provided with a groove releasing notch, and after the locking key element is separated from the limiting groove, along with the rotation process of the working key, the locking key element gradually enters the groove releasing notch.

Optionally, in the above combination key, the key-locking element is configured to linearly slide synchronously with the operating key; the limiting groove is arranged to linearly slide up and down synchronously with the unlocking key; the combination key further comprises an unlocking notch arranged above the limiting groove, and after the locking key element is separated from the limiting groove, the locking key element gradually enters the unlocking notch along with the linear sliding of the working key.

Optionally, in the above combination key, the key locking element is configured to linearly slide up and down in synchronization with the operating key; the limiting groove is arranged to slide linearly in synchronization with the unlocking key.

Optionally, in the above combination key, a groove releasing notch is formed at the rear end of the limiting groove, and after the key locking element is released from the limiting groove, the key locking element gradually enters the groove releasing notch along with the downward sliding process of the working key.

The invention also provides an automatic walking device which is provided with the combined key.

The invention has the advantages that the limit locking device of the combined key is utilized, and particularly the locking key element driven by the unlocking key or the working key is utilized, so that the locking key element is arranged close to the limit boss or the limit groove on the back of the working key or close to the limit groove of the unlocking key in the initial state, and the working key is prevented from being pressed down or pushed forward to further carry out misoperation on equipment. In the process that the unlocking key slides to gradually separate from the initial state, the locking key element is driven by the unlocking key or the working key to slide relative to the limiting boss or the limiting groove to gradually separate from the limiting boss or the limiting groove, and the limiting of the working key is released. Or in the process that the unlocking key slides to gradually separate from the initial state, the locking key element is driven by the unlocking key or the working key to gradually separate from the limiting lug boss or the limiting groove, and the limiting on the working key is removed. The working key can be pressed to drive the automatic walking device to act. By the design, the user can unlock the automatic walking device only by applying external force to the unlocking key, so that the danger caused by misoperation is avoided.

Furthermore, the invention also arranges a supporting part which can support the working key at the front end of the stop key, the working key and the stop key are linked by the supporting part, and the working key can be supported by the supporting part by pressing the stop key, so that the working key is reset, and the automatic walking device stops working.

In addition, the upper side of the second rotating shaft for fixing the stop key is arranged on the lower end face of the locking key element closely, and the locking key element is positioned between the second rotating shaft and the limiting boss. The key locking element can be supported by the second rotating shaft at the lower side in the initial state, and the key locking element is prevented from being broken or deformed by applying excessive pressure to the key locking element due to misoperation of the working key. Therefore, the key locking element can be selected to be a lighter and thinner structure, and the thickness of the combined key is reduced.

Furthermore, the invention also provides reset devices which are arranged along the moving direction of the unlocking key and the working key respectively at the back sides of the unlocking key and the working key, wherein the reset device corresponding to the unlocking key is arranged to be approximately horizontal, and the reset device of the working key is arranged to be approximately vertical. Therefore, after the operation of the key is withdrawn, the reset device can directly drive the corresponding working key and the unlocking key to restore the original initial state, and the safety is further improved.

Drawings

FIG. 1 is a schematic structural diagram of a first combination key provided in the present invention;

FIG. 2 is a structure of a control box for installing an unlocking key in a first combination key of the present invention;

FIG. 3 is a schematic view of the installation of the unlocking key of the first combination key of the present invention;

FIG. 4 is a schematic view of the connection between the key-locking element and the reset device of the first combination key according to the present invention;

FIG. 5 is a schematic view of the connection between the key element and the unlocking key of the first combination key of the present invention;

FIG. 6 is a schematic diagram of an operation key of a first combination key of the present invention;

FIG. 7 is a schematic view showing the installation positions of the working key and the unlocking key of the first combination key according to the present invention;

FIG. 8 is a schematic view of section A-A of FIG. 7 illustrating the positional relationship of the key member and the operating key in an initial state;

FIG. 9 is a schematic view of section A-A of FIG. 7 illustrating the positional relationship of the key element and the work key in the unlocked position;

FIG. 10 is a schematic diagram of an unlocking key of a second combination key of the present invention;

FIG. 11 is a schematic structural diagram of an operation key of a second combination key of the present invention;

FIG. 12 is a schematic diagram illustrating the positional relationship between the key locking element and the operation key in the initial state of the second combination key of the present invention;

FIG. 13 is a schematic diagram illustrating the positional relationship between the key element and the operation key when the second combination key of the present invention is transitioned to the unlock state;

FIG. 14 is a schematic diagram of the position relationship between the stop button and the operation button in the combination button according to the present invention;

FIG. 15 is a schematic view of the position relationship between the second shaft and the key-locking element in the combination key of the present invention;

FIG. 16 is a schematic view of the automatic walking device having the combination key;

FIG. 17 is a view showing a mounting case structure of an operation key in a third combination key of the present invention;

FIG. 18 is a bottom view of a third embodiment of the present invention;

FIG. 19 is a schematic diagram of an unlocking key of a third combination key of the present invention;

FIG. 20 is a schematic diagram of an operation key of a third combination key of the present invention;

FIG. 21 is a schematic view of the initial position relationship between the working key and the unlocking key of the third combination key according to the present invention;

FIG. 22 is a schematic diagram of the position relationship between the working key and the unlocking key in the unlocking state of the third combination key of the present invention;

FIG. 23 is a schematic diagram of an operation key of a fourth combination key of the present invention;

FIG. 24 is a schematic structural diagram of an unlocking key of a fourth combination key of the present invention;

FIG. 25 is a schematic view of the initial position relationship between the working key and the unlocking key of the fourth combination key according to the present invention;

FIG. 26 is a schematic diagram of the position relationship between the working key and the unlocking key in the unlocking state in the fourth combination key of the present invention;

FIG. 27 is a view showing a mounting case structure of an operation key in a fifth combination key of the present invention;

FIG. 28 is a bottom view of the operation key of the fifth combination key of the present invention;

FIG. 29 is a schematic diagram of an unlocking key of a fifth combination key of the present invention;

FIG. 30 is a bottom view of the working key of the fifth combination key of the present invention;

FIG. 31 is a schematic diagram showing the initial positional relationship between the enter key and the unlock key of the fifth combination key according to the present invention;

FIG. 32 is a schematic diagram showing the positional relationship between the working key and the unlocking key in the unlocked state of the fifth combination key according to the present invention;

FIG. 33 is a schematic view showing an installation manner of an operation key in a sixth combination key according to the present invention;

FIG. 34 is a bottom view of a sixth key combination of the present invention illustrating the mounting of the working key;

FIG. 35 is a schematic diagram of an unlocking key of a sixth combination key of the present invention;

FIG. 36 is a bottom view of the operation key of the sixth combination key of the present invention;

FIG. 37 is a diagram showing the initial positional relationship between the enter key and the unlock key of the sixth combination key of the present invention;

FIG. 38 is a schematic view of the position relationship between the working key and the unlocking key in the unlocking state in the sixth combination key of the present invention;

FIG. 39 is a view showing a mounting case structure of an operation key in a seventh combination key of the present invention;

FIG. 40 is a bottom view of a seventh combination key of the present invention showing the installation of the operation keys;

FIG. 41 is a schematic diagram of an unlocking key of a seventh combination key of the present invention;

FIG. 42 is a bottom view of the working key of the seventh combination key of the present invention;

FIG. 43 is a schematic view showing the initial positional relationship between the enter key and the unlock key of the seventh combination key of the present invention;

FIG. 44 is a schematic diagram showing the positional relationship between the operation key and the unlock key in the unlock state in the seventh combination key according to the present invention;

FIG. 45 is a schematic view of the bottom of the working key of the eighth combination key of the present invention;

FIG. 46 is a schematic structural diagram of an unlocking key of an eighth combination key of the present invention;

FIG. 47 is a schematic view of the position relationship between the operation key and the unlock key in the initial state for the eighth combination key of the present invention;

fig. 48 is a schematic diagram of the positional relationship between the operation key and the unlock key in the unlocked state in the eighth combination key of the present invention.

Detailed Description

In order to make the purpose and technical solution of the embodiments of the present invention clearer, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the drawings of the embodiments of the present invention. It is to be understood that the embodiments described are only a few embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the described embodiments of the invention without any inventive step, are within the scope of protection of the invention.

It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.

The meaning of "front and back" in the present invention means that the sliding unlocking direction of the unlocking key is front, and vice versa, or, not specifically limited to the mechanism of the device of the present invention, with respect to the combination key itself.

The meaning of "left and right" in the present invention means that the left side of the sliding unlocking direction of the combination key is left, and vice versa, with respect to the combination key itself, and is not a specific limitation on the mechanism of the device of the present invention.

The meaning of "up and down" in the present invention means that the side of the combination key for the user to operate is up, and vice versa, with respect to the combination key itself, and is not a specific limitation on the mechanism of the device of the present invention.

The term "connected" as used herein may mean either a direct connection between the components or an indirect connection between the components via other components.

The initial state, namely the locking state, is a state in which the working key is limited and cannot be pressed to trigger the corresponding work of the automatic walking device. The unlocking state in the invention refers to a state that the working key is out of limit and can be pressed to trigger the corresponding work of the automatic walking device.

Referring to fig. 1, the combined key 1 provided by the invention comprises an unlocking key 3, a working key 2 and a limit locking device. The operation keys may further include operation keys 2 respectively arranged at left and right sides of the unlocking key 3. The work keys include a Start key and a Home key. Referring to fig. 2, the limit locking device is provided on the control box 10. Referring to fig. 3 to 9, the limit locking device includes: a key-locking element 8 arranged to slide synchronously with said unlocking key 3; and the limiting boss 11 is arranged on the back of the working key. When the unlocking key is in the initial state, as shown in fig. 8, the locking key element 8 and the limiting boss 11 are arranged closely, the locking key element 8 is arranged near the stroke starting position where the working key is pressed downwards, and then the locking key element abuts against the limiting boss 11 of the working key when the working key is operated by mistake, and the working key is prevented from moving downwards continuously. Due to the abutting of the key locking element 8 to the limiting boss 11, the working key cannot be pressed down in the initial state, so that misoperation of the working key is avoided. In the process that the key locking element 8 is gradually separated from the initial state along with the sliding of the unlocking key 3, as shown in fig. 9, the key locking element 8 is gradually separated from the limit boss 11, and the limit of the key locking element on the movement stroke of the working key is cancelled. Therefore, when the user keeps the unlocking key to push the locking key element to be separated from the initial state, the working key can be pressed and is not limited by the locking key element. In the above process, when the unlocking key is in the initial state, the unlocking key and the working key are located on the same plane, the sliding direction of the unlocking key is perpendicular to the rotating shaft connected with the working key, the forward sliding is unlocking, and the backward sliding is locking. The working keys are arranged on two sides of the unlocking key along the axial direction of the first rotating shaft.

Referring to fig. 4, the process of locking the backward sliding motion can be realized by a reset means. The resetting device comprises an elastic body 9, one end of the elastic body is abutted to the bottom of the unlocking key, and the other end of the elastic body is abutted to the inner wall of the control box 10. When the external force applied to the unlocking key is released, the elastic body 9 pushes the unlocking key to restore it to the original state. One possible realization of the elastomer is by a spring.

Referring to fig. 8 or 9, an unlocking notch 12 for accommodating the locking element 8 may be further disposed in front of the limiting boss, and after the locking element is separated from the limiting boss, the locking element gradually enters the unlocking notch along with the rotation process of the operating key. The operating key is thus rotatable about the first axis of rotation 7 through two angles, an initial state and an unlocked state. In the initial state, the rotation angle of the working key around the first rotating shaft is limited in front of the limiting boss by the key locking element; in the unlocked state, the angle of rotation of the operating key about its first axis of rotation is limited by the detent element to within the depth of the unlocking notch 12.

The present invention also provides another combination key, which comprises a limit locking device installed between the unlocking key 3 and the operation key 2, with reference to fig. 10 to 13. The limiting and locking device in the embodiment specifically comprises:

a key lock member 8 provided to rotate in synchronization with the operating key 2;

a limit groove 32 which linearly slides in synchronization with the unlocking key 3;

when the unlocking key 3 is in the initial state, the locking key element 8 is positioned in the limiting groove 32; in the process that the unlocking key 3 slides linearly and gradually departs from the initial state, the locking key element 8 gradually departs from the limit groove 32.

Referring to fig. 10, the bottom end of the unlocking key 3 is provided with a limiting groove 32, and the rear side of the limiting groove 32 is provided with a groove disengaging notch 33. The unlocking key 3 further includes a reset means, which may be selected as an elastic member such as a spring, to restore the unlocking key 3 to an initial state after the external force applied to the unlocking key 3 is released.

Referring to fig. 11, the back or side of the operation key 2 is provided with a key-locking member 8 which can be received in the stopper groove 32. The latching element 8 is rod-shaped or plate-shaped. As shown in fig. 12 to 13, in the process of switching from the locked state to the unlocked state, the unlocking key 3 is pushed by the user to move forward along the plane of the automatic walking device, and in the moving process, the limiting groove 32 moves forward along with the unlocking key 3 synchronously, so that the lower end surface of the locking key element 8 is separated from the step structure of the upper end surface of the limiting groove 32 and enters the range of the groove-separating notch 33. Because its downside of out-of-groove breach 33 is provided with the vacancy, can not carry out the main gear to the motion of key element 8 in vertical direction, therefore under the unblock state this moment, working key 2 can not blockked by key element 8 or spacing groove 32, under the unblock state this moment, working key 2 can be pressed in order to trigger automatic running gear by the user and get into corresponding operating condition.

In another implementation of the present invention, the above-described combination key is applied to the automatic walking apparatus shown in fig. 16. This automatic running gear 13 includes: the casing, the casing below is provided with the walking wheel, and the upper portion of casing is provided with the button box 14 as above-mentioned combination button.

The automatic walking device comprises a shell, and a key box 14 is arranged at the upper part of the shell. The key box 14 includes: the first rotating shaft 7 is provided with a working key 2. Parallel to the first axis of rotation, a second axis of rotation 6 is also provided in front of it. Referring to fig. 14 and 15, the stop button 5 is rotatable around the second rotation axis 6; the unlocking key 3 provided on the control box can slide back and forth in the control box 10. The elastic body 9 arranged on the control box has one end fixed on the control box 10 and the other end capable of applying force to the unlocking key 3 and keeping the unlocking key in the initial state when the unlocking key is not applied with external force. A catch element 8, which is fixed to the unlocking key 3 or to the operating key 2, is provided so as to be movable with the unlocking key 3 or the operating key 2. The key-locking element 8 limits the rotatable movement of the Home key by cooperating with the limiting boss 11 on the Home key or with the limiting groove 32 on the unlocking key 3.

In the state that the above-mentioned automatic traveling apparatus is horizontally placed, the linear sliding of the key-locking member 8 or the unlocking key 3 is performed forward or backward relative to the main structure of the automatic traveling apparatus in a horizontal or nearly horizontal direction.

As shown in FIG. 6, the external force overcomes the action of the elastic body 9, the locking key 13 is pushed to drive the locking key element 8 to slide forwards, the locking key element 8 is separated from the matching of the boss 11 on the Home key to the position of the pit 12 on the Home key, and at the moment, the Home key can rotate.

Referring to fig. 14, 15, the stop key 5 is provided on the rear side of the unlock key; the stop key comprises a stop key main body and a supporting part arranged at the front end of the stop key main body. The second rotating shaft 6 is arranged between the stop key main body and the supporting part thereof in a penetrating way, so that when the stop key is pressed down, the supporting part is correspondingly lifted upwards. The supporting part is arranged at the lower side of the working key, so that the working key is lifted by the supporting part along with the pressing of the stop key. Thereby, the automatic traveling device stops operating. And when the stop key is in the initial state and is not pressed down, the supporting part is positioned at the end position of the movement track of the working key rotating around the shaft and is not contacted with the working key, and the working key can be unlocked according to the unlocking key and pressed down by an operator at the moment.

Optionally, in the above combination key, a reset protrusion is further disposed on the front side of the unlocking notch 12 of the working key; the supporting part of the stop key is arranged at the lower side of the reset bulge and is positioned on the rotating motion track of the reset bulge. The supporting part of the stop key and the stop key main body can be respectively positioned at the front side and the rear side of the first rotating shaft 7, so that the reset bulge is supported, the working key is supported, and the false triggering of the working key is avoided.

Further, refer to fig. 15. In the above combination key, when the unlocking key is in the initial state, the upper side of the second rotating shaft 6 is arranged on the lower end surface of the locking element in a close manner, the locking element is located between the second rotating shaft and the limiting boss, and the second rotating shaft bears the pressure of the supporting limiting boss caused by the pressing of the working key. Thus, the key element can be made of a thinner material without worrying about the mechanical strength sufficient to withstand the force of the operating key being pressed. Therefore, the upper end face of the locking key element can be provided with a bulge, when the unlocking key is in an initial state, the bulge is arranged close to or abutted against the lower end face of the limiting boss, and the limiting of the working key and the prevention of false triggering are realized.

The latching element may be rod-shaped or plate-shaped. Other structures capable of achieving the locking and unlocking functions similar to those described above also belong to the scope of the key element in the present application. Other structures capable of realizing the locking and unlocking functions also fall into the protection scope of the application.

In order to facilitate the automatic walking device to sense the state of each key, the stop key main body or the supporting part or the working key can be provided with a magnetic body. And a Hall element is arranged at the position, opposite to the magnetic body, of the lower side of the control box of the combined key. The Hall element is used for sensing the magnetic body, so that the fact that each key is lifted up or pressed down can be known, and the automatic walking device is correspondingly controlled to be switched under different working states.

In addition to the above embodiments, in another implementation, as shown in fig. 17, the operation key 2 is engaged with the mounting frame 41 of the combination key 1, and the reset device 9 is abutted between the lower side of the operation key 2 and the bottom surface of the mounting frame 41, so that the operation key 2 can be restored to the initial position when the external force is removed. A positioning frame of the locking key 3 is arranged between the two mounting frames 41 for mounting the Start key and the Home key. Referring to fig. 18, the front or rear surface of the positioning frame is further provided with an elastic member bracket 42 for mounting an elastic member for controlling the reset of the locking key 3. One end of the elastic member abuts against the elastic member holder 42, and the other end abuts against the surface of the abutment plate at the bottom of the lock key 3, so that the lock key 3 is restored to the initial state when the user does not apply a pushing force to the lock key 3.

Referring to fig. 19 to 22, the limit locking device includes:

a catch element 8 arranged to slide linearly in synchronism with the release catch 3;

the limiting boss 11 is arranged to linearly slide up and down synchronously with the working key 2;

when the unlocking key 3 is in an initial state, the locking key element 8 and the limiting boss 11 are arranged closely; in the process that the unlocking key 3 slides linearly and gradually departs from the initial state, the locking key element 8 gradually departs from the limiting boss 11.

Referring to fig. 19, both side walls of the unlocking key are provided with a key-locking member 8 protruding toward the next working key 2. As shown with reference to fig. 20,. Referring to fig. 21, a groove close to an L shape is formed on a surface of a side wall of the operating key 2 close to the unlocking key 3, a corner portion of the groove faces forward, a limiting boss 11 is formed on an upper side of the corner portion, and a vertical notch of the L-shaped groove is provided as an unlocking notch 12.

In the initial state, referring to fig. 21, the key locking element 8 and the limit boss 11 are disposed closely to each other, and the key locking element 8 is disposed near the stroke start position where the operating key is pressed down, and abuts against the lower end surface of the limit boss 11 of the operating key when the operating key is operated by mistake, preventing the operating key from moving further downward. Due to the abutting of the key locking element 8 to the limiting boss 11, the working key cannot be pressed down in the initial state, so that misoperation of the working key is avoided.

In the process that the unlocking key 8 gradually departs from the initial state along with the forward sliding of the unlocking key 3, as shown in fig. 22, the locking key element 8 gradually departs from the limiting boss 11 and enters the lower part of the unlocking notch 12, and the limitation of the locking key element 8 on the movement stroke of the working key is cancelled. Thus, when the user keeps the unlocking key pushing the key element out of the initial state, the working key can be pressed, and the key element 8 connected with the working key can be accommodated in the space of the unlocking notch 12, so that the working key is not limited by the key element. After the key locking element 8 is separated from the limiting boss 11, along with the downward sliding process of the working key 2, the key locking element 8 gradually enters the unlocking notch 12. In the above process, when the unlocking key is in the initial state, the unlocking key and the operating key are located on the same plane, and the sliding direction of the unlocking key is basically consistent with the advancing direction of the automatic walking device installed on the unlocking key. The edge of the working key is connected with a sliding rod fixed relative to the integral structure of the combined key 1, the back or the side of the working key 2 is also provided with a sliding groove 4, the sliding rod is arranged in the sliding groove 4 to provide guidance, and the working key is limited to be downwards pressed or upwards bounced by a resetting device 9. In particular, the sliding rod is fixed to the housing of the device, and the operating key slides up and down. And when the locking state and the unlocking state are realized, the sliding rods are respectively positioned at the bottom and the top of the sliding groove. The unlocking key slides forwards to unlock and slides backwards to lock. The unlocking key also includes a reset means 9 for restoring the unlocking key 3 to the original state after the external force applied to the unlocking key 3 is released. The working keys are arranged on two sides of the unlocking key along the axial direction of the first rotating shaft.

Referring to fig. 19, the process of locking the backward sliding movement can be realized by a reset means. The reset device 9 comprises an elastic body, one end of which abuts against the bottom of the unlocking key, and the other end of which abuts against the inner wall of the positioning frame. When the external force applied to the unlocking key is released, the elastic body pushes the unlocking key to restore the unlocking key to the initial state. One possible realization of the elastomer is by a spring.

The present invention also provides another combination key, referring to fig. 23 to 26, which includes an unlocking key 3 and an operation key 2, and further includes a limit locking device, wherein the limit locking device includes:

a key-locking member 8 provided to linearly slide up and down in synchronization with the key of the operation key 2;

a limit groove 32 provided to linearly slide in synchronization with the unlock key 3;

Referring to fig. 23 or 24, the latching member 8 protrudes from the side wall surface of the operating key 2 and extends toward the side wall of the unlocking key 3. Referring to fig. 24, the lower portion of the unlocking key 3 is provided with a limiting groove 32, and the lower end surface of the key element 8 abuts against the upper end surface of the limiting groove 32 in the initial state. The piece of the upper end surface of the stopper groove 32 and the upper end surface of the unlocking key 3 is formed with a groove for receiving the locking key member 8 shown in fig. 23. The groove extends forwardly to form a relief notch 33.

Referring to fig. 26, a slot releasing notch 33 is provided in front of the limiting slot 32 to accommodate the key-locking element 8, and after the key-locking element is released from the limiting slot 32, the key-locking element gradually enters the slot releasing notch 33 along with the process of pressing the working key. Thereby, the operating key can be moved in the direction of the slide groove 4 in both height ranges of the initial state and the unlocked state. In the initial state, the working key is limited below the limit boss by the locking key element; in the unlocked state, the operating key is moved downward in the direction along the sliding groove 4, and is limited by the catch element in the region of the notch 33.

When the acting force applied to the unlocking key 3 and the operating key 2 is removed, the reset device 9 disposed behind the unlocking key 3 and the operating key 2 applies the acting force in the horizontal direction and the acting force in the vertical direction to the unlocking key 3 and the operating key 2, respectively, so that the unlocking key and the operating key are restored to the initial states, respectively.

In another implementation of the present invention, the above-described combination key is applied to the automatic walking apparatus shown in fig. 16. This automatic running gear includes: and a chassis 13, wherein a traveling wheel is arranged below the chassis, and the upper part of the chassis is provided with a key box 14 of the combined key.

The automatic walking device comprises a shell 13, and a key box 14 is arranged at the upper part of the shell. The key box 14 includes: the combined key is provided. As shown in fig. 22 or 11, the unlocking key is pushed to slide forward by overcoming the action of the elastic body 9 through external force, the locking key element is separated from the limit of the limit boss or the limit groove 32 and reaches the position of the unlocking notch 12 or the disengaging notch 33, and at the moment, the working key can be pressed to trigger the automatic walking device to change the working state.

In the state that the automatic walking device is horizontally placed, the linear sliding of the working key slides forwards or backwards relative to the main structure of the automatic walking device along the horizontal direction or the direction close to the horizontal direction.

Referring to fig. 25 and 26, the stop key 5 is provided on the rear side of the unlock key; the stop key comprises a stop key main body and a supporting part arranged at the front end of the stop key main body. A rotating shaft penetrates through the stop key body and the supporting part of the stop key body, so that when the stop key is pressed down, the supporting part is correspondingly lifted upwards. The supporting part is arranged at the lower side of the working key, so that the working key is lifted by the supporting part along with the pressing of the stop key. Thereby, the automatic traveling device stops operating. And when the stop key is in the initial state and is not pressed down, the supporting part is positioned at the end position of the movement track of the working key rotating around the shaft and is not contacted with the working key, and the working key can be unlocked according to the unlocking key and pressed down by an operator at the moment.

In parallel with the above implementation, referring to fig. 27, the working key 2 is clamped in the mounting rack 41 of the combination key 1, and the front-back length of the working key 2 is slightly smaller than the length of the notch in the mounting rack 41 so that the working key 2 can be pushed horizontally front and back. The front end surface or the rear end surface of the mounting bracket 41 is further provided with an elastic piece support 42 for mounting an elastic piece for controlling the reset of the working key 2. One end of the elastic member abuts against the elastic member support 42, and the other end abuts against the surface of the abutment plate at the bottom of the operating key 2 or the back side of the unlocking key, so that the operating key 2 is restored to the initial state when the user does not apply a pushing force to the operating key.

Referring to fig. 28 to 32, the limit locking device includes: a key element 8 arranged to rotate synchronously with said unlocking key 3; the limiting boss 11 is arranged to linearly slide synchronously with the working key 2; when the unlocking key 3 is in an initial state, the locking key element 8 and the limiting boss 11 are arranged closely; in the process that the unlocking key 3 slides linearly and gradually departs from the initial state, the rod-shaped or sheet-shaped structure of the locking key element 8 gradually departs from the path range of the linear sliding of the limiting boss 11.

Referring to fig. 28, the inner bottom of the operating key is provided with a limit boss 11, and referring to fig. 29, both ends of the unlocking key near the operating key are provided with a locking key element 8 protruding from the side end surface thereof. When the operating key is in the initial state, as shown in fig. 31, the key locking element 8 and the limit boss 11 are arranged closely, the key locking element 8 is arranged near the stroke starting position where the operating key is pushed forward, and when the operating key is operated by mistake, the rear side surface of the key locking element abuts against the front end surface of the limit boss 11 of the operating key, so that the forward movement of the operating key is prevented. Due to the abutting of the key locking element 8 to the limiting boss 11, the working key cannot be pushed in the initial state, so that misoperation of the working key is avoided. In the process that the unlocking key 8 is gradually separated from the initial state along with the downward rotation of the unlocking key 3 around the first rotating shaft 7, as shown in fig. 32, the locking key element 8 is gradually separated from the limiting boss 11 and rotates downward, and the limitation of the locking key element on the movement stroke of the working key is cancelled. Thus, when the user keeps the unlock key pressed to make the lock key member separate from the initial state, the operation key can be pushed forward without being restricted by the lock key member. In the above process, when the unlocking key is in the initial state, the unlocking key and the operating key are located on the same plane, the rotation direction of the unlocking key is perpendicular to the rotating shaft connected with the operating key, the unlocking key rotates downwards to be unlocked, and the unlocking key is driven by the torsion spring arranged on the first rotating shaft 7 connected with the unlocking key to bounce, namely, the unlocking key enters the locking state. The working keys are arranged on two sides of the unlocking key along the axial direction of the first rotating shaft.

Referring to fig. 29, the locking process in which the operation key is slid backward, or the reset process in which the unlock key is sprung up, may be implemented by the reset means. The resetting device comprises an elastic body. In the operation key 2, one end of the elastic member abuts against the elastic member bracket 42 at the bottom of the operation key 2, and the other end abuts against the surface of the abutting plate of the end face of the operation key 2 shown in fig. 30. When the external force applied to the working key is removed, the elastic body pushes the working key to restore the working key to the initial state. One possible realization of the elastomer is by a spring. In the unlocking key 2, the reset means provides an upward abutting force so that the unlocking key 3 is lifted. The reset device of the unlocking key can adopt a torsion spring.

The present invention also provides another combination key, the structure of which is shown in fig. 33 to 38, and the combination key comprises: the unlocking key 3 and the working key 2 also comprise a limit locking device. Spacing locking device includes:

a key-locking member 8 provided to linearly slide in synchronization with the operation key 2;

a limit boss 11 configured to rotate synchronously with the unlocking key 3;

when the unlocking key 3 is in an initial state, the locking key element 8 and the limiting boss 11 are arranged closely; in the process that the unlocking key 3 slides linearly and gradually departs from the initial state, the limiting boss 11 gradually departs from the path range of the linear sliding of the locking key element 8.

Specifically, referring to fig. 33 to 34, the latching member 8 protrudes from the inner end surface of the operation key 2 to extend toward the lower portion of the unlocking key 3. Referring to fig. 35, the lower portion of the unlocking key 3 is provided with a limit boss 11, and the lower end surface of the key locking element 8 abuts against the upper end surface of the limit boss 11 in the initial state. The piece of the upper end face of the position-limiting boss 11 and the upper end face of the unlocking key 3 is formed with a groove for accommodating the locking key member 8 shown in fig. 36. The recess extends forwardly to form an unlocking notch 12.

Referring to fig. 37 or 38, an unlocking notch 12 for accommodating the locking element 8 may be further disposed in front of the limiting boss, and after the locking element is separated from the limiting boss upwards relative to the unlocking key in the process of pressing the unlocking key 3, the locking element 8 gradually enters the unlocking notch 12 along with the process of pushing the working key forwards. Thus, the operating key can slide in the horizontal direction between two positions, an initial state and an unlocked state. In the initial state, the rotation angle of the unlocking key around the first rotating shaft 7 is limited in front of the limiting boss by the locking key element; in the unlocked state, the angle of rotation of the unlocking key about its first axis of rotation 7 is limited by the locking key element within the depth of the unlocking notch 12. The unlocking key 3 includes a torsion spring installed on the first rotation shaft 7 as a reset means, and when the external force applied to the unlocking key 3 is removed, the unlocking key 3 is lifted up to be restored to an initial state.

The automatic walking device comprises a shell 13, and a key box 14 is arranged at the upper part of the shell. The key box 14 includes: a first rotating shaft 7, on which the working

keys

4 and 2 are penetrated. Parallel to the first axis of rotation, a second axis of rotation 6 is also provided in front of it. Referring to fig. 37 and 38, the stop button 5 is rotatable about the second rotation axis 6; the unlocking key 3 provided on the control box can be pushed up and down in the control box 10. The elastic body is fixed on the control box 10 at one end and can apply force to the working key at the other end, and the elastic body is kept in the initial state when the unlocking key is not applied with external force. In the manner of fig. 29, a latch member 8 fixed to the latch 3 is provided to be rotatable up and down together with the latch. The key-locking element 8 limits the distance that the Home key can be pushed horizontally forward by cooperating with the upper limit boss 11 of the Home key.

In the state that the above-mentioned automatic traveling apparatus is horizontally placed, the linear sliding of the key-locking member 8 or the operation key 2 is performed forward or backward with respect to the main structure of the automatic traveling apparatus in the horizontal or nearly horizontal direction.

Referring to fig. 31, 32, the stop key 5 is provided on the rear side of the unlock key; the stop key comprises a stop key main body and a supporting part arranged at the front end of the stop key main body. The second rotating shaft 6 is arranged between the stop key main body and the supporting part thereof in a penetrating way, so that when the stop key is pressed down, the supporting part is correspondingly lifted upwards. The support part is arranged at the lower side of the unlocking key, so that the unlocking key is lifted by the support part along with the pressed state. Thereby, the automatic traveling device stops operating. And when the stop key is in the initial state and is not pressed down, the supporting part is positioned at the end position of the movement track of the unlocking key rotating around the shaft and is not contacted with the unlocking key, and the unlocking key can be pressed down by an operator according to unlocking of the unlocking key.

Optionally, in the above combination key, a reset protrusion is further disposed on the front side of the unlocking notch 12 of the unlocking key; the supporting part of the stop key is arranged at the lower side of the reset bulge and is positioned on the rotating motion track of the reset bulge. The supporting part of the stop key and the stop key main body can be respectively positioned at the front side and the rear side of the first rotating shaft 7, so that the reset protrusion can be supported, the unlocking key can be further supported, and the unlocking key is prevented from being triggered by mistake.

The back of the working key is provided with a buckle structure, and the working key is slidably arranged in an installation groove formed in the shell through the buckle structure.

The back of the working key is provided with a spring stressing plate for providing supporting force for the elastic deformation of the spring.

The working key is provided with a triggering component (such as a magnet) which enters or leaves the sensing area along with the working key so as to trigger the Hall sensor.

In parallel to the above implementation, referring to fig. 40, the elastic member bracket 42 corresponding to the unlocking key 3 is installed at the bottom of the inner wall of the box 43 structure below the unlocking key, and supports the elastic member, and the elastic member abuts against the rear wall surface of the unlocking key, so as to reset the unlocking key.

Referring to fig. 41 to 44, the limit locking device includes:

a key-locking member 8 configured to slide linearly up and down in synchronization with the key-unlocking member 3;

the limiting boss 11 is arranged to linearly slide synchronously with the working key 2;

when the unlocking key 3 is in an initial state, the locking key element 8 and the limiting boss 11 are arranged closely; in the process that the unlocking key 3 slides downwards linearly and gradually departs from the initial state, the locking key element 8 gradually departs from the path range of the linear sliding of the limiting boss 11.

Referring to fig. 41, the back or side of the unlocking key 3 is further provided with a sliding groove 4, and further comprises a sliding rod fixed on the device housing, the sliding rod is installed in the sliding groove 4, and the unlocking key 3 can slide linearly up and down along the sliding rod through the sliding groove 4. When the unlocking key is in the initial state, as shown in fig. 42, the front side surface of the stopper boss 11 provided on the back side of the operation key 2 abuts on the rear side surface of the locking key element 8, and the state shown in fig. 43 is formed. Referring to fig. 43, in the initial state, the operating key is locked, and at this time, the key locking member 8 and the limit projection 11 are disposed closely to each other, and the key locking member 8 is disposed in the vicinity of the stroke start position where the operating key is pushed forward, and abuts against the front end surface of the limit projection 11 of the operating key when the operating key is erroneously operated, and prevents the operating key from moving forward. Due to the abutting of the key locking element 8 to the limiting boss 11, the working key cannot be pushed in the initial state, so that misoperation of the working key is avoided. In the process that the unlocking key 8 is gradually separated from the initial state along with the downward sliding of the unlocking key 3, as shown in fig. 44, the upper part of the locking key element 8 is gradually separated from the limiting boss 11, and the limitation of the locking key element on the movement stroke of the working key is cancelled. Thus, in the case where the user keeps the unlock key pushing the key lock member pressed to be out of the initial state, the operation key can be pushed forward without being restricted by the key lock member. In the above process, when the unlocking key is in the initial state, the unlocking key and the operating key are located on the same plane, the sliding direction of the unlocking key is perpendicular to the rotating shaft of the combined key, the unlocking is realized by downward sliding, and the locking is realized by upward sliding which is abutted by the elastic part 9. The working keys are respectively arranged on two sides of the unlocking key along the axial direction of the rotating shaft of the combined key.

Referring to fig. 41, the process of locking the upward slide may be accomplished by a reset means. The reset device comprises an elastic component 9, one end of which is abutted against the bottom of the unlocking key, and the other end of which is abutted against an elastic component bracket 42 arranged on the bottom of the inner wall of the box body 43 structure below the unlocking key. When the external force applied to the unlocking key is released, the elastic member 9 pushes the unlocking key to restore it to the original state. One possible implementation of the resilient member is by means of a spring.

The above-mentioned combination key is also provided with a stop key 5 which is arranged at the rear side of the unlocking key 3; the stop key 5 comprises a stop key 5 main body and a supporting part arranged at the front end of the stop key 5 main body; the supporting part is arranged at the lower side of the unlocking key 3; the supporting part of the stop key 5 and the main body of the stop key 5 are respectively positioned at the front side and the rear side of the second rotating shaft 6, and the stop key 5 rotates around the second rotating shaft 6.

The present invention also provides another combination key, the structure of which is shown in fig. 45 to 48, and the combination key comprises: the unlocking key 3 and the working key 2 also comprise a limit locking device arranged between the unlocking key and the working key. Spacing locking device includes:

a limit groove 32 provided to linearly slide up and down in synchronization with the unlocking key 3;

when the unlocking key 3 is in the initial state, the locking key element 8 is positioned in the limiting groove 32; in the process that the unlocking key 3 linearly slides downward and gradually departs from the initial state, the locking key element 8 gradually departs from the limiting groove 32.

Specifically, as shown in fig. 45, the latch member 8 protrudes from the inner end surface of the operating key 2 to extend toward the lower portion of the unlocking key 3. The locking key element 8 is arranged on the back or the side of the working key 2, and the locking key element 8 is rod-shaped or sheet-shaped; the limit groove 32 is arranged on the back or side of the unlocking key 3.

Referring to fig. 46, the back or side of the unlocking key 3 is further provided with a sliding groove 4. The combined key further comprises a sliding rod, and the sliding rod is accommodated in the sliding groove 4. The sliding rod is fixed on the shell of the device and slides up and down along with the working key. And when the locking state and the unlocking state are realized, the sliding rods are respectively positioned at the bottom and the top of the sliding groove.

Referring to the initial state shown in fig. 47 and the unlocked state shown in fig. 48, the horizontal unlocking notch 12 is further connected to the upper portion of the limiting groove 32. After the key element 8 is separated from the limiting groove 32, the key element 8 gradually enters the unlocking notch 12 along with the linear sliding of the working key 2. Specifically, in the initial state shown in fig. 47, the latch member 8 on the lower side of the operation key 2 is restricted in the disengagement limit groove 32 by the abutment action of the elastic member 9 on the lower side of the unlock key 3. In the transition from fig. 47 to the state shown in fig. 48, the unlocking key 3 is pushed down in the direction of the sliding groove 4, and in the process, the latching member 8 is gradually slid from the lower portion of the stopper groove 32 to the upper portion of the stopper groove 32 with respect to the stopper groove 32, because the height of the operating key 2 is not changed. Then, the key element 8 slides forward along the unlocking notch 12 as the working key 2 is pushed, and moves forward, forming the unlocking state of fig. 48 to trigger the corresponding working state. In the unlocked state, the distance that the unlock key is pressed downward is limited by the depth range of the slide groove 4. A reset device is installed at the bottom of the unlocking key 3, and when the external force applied to the unlocking key 3 is released, the unlocking key 3 is jacked up to be restored to the initial state shown in fig. 47.

In another implementation of the present invention, the above-described combination key is applied to the automatic walking apparatus shown in fig. 16. This automatic running gear 13 includes: the casing, the casing below is provided with the walking wheel, and the upper portion of casing is provided with the button box 14 that contains the combination button as above.

The automatic walking device comprises a shell 13, and a key box 14 is arranged at the upper part of the shell. The key box 14 includes: the first rotating shaft 7 is provided with a working key 2. Parallel to the first axis of rotation, a second axis of rotation 6 is also provided in front of it. Referring to fig. 47 and 48, the stop button 5 is rotatable around the second rotation axis 6; the unlocking key 3 arranged on the control box is correspondingly supported by the supporting part at the front end of the stop key 5. One end of the elastic component 9 arranged on the control box is fixed in the key box 14, and the other end of the elastic component can apply force to the unlocking key 3, so that the unlocking key is kept in an initial state when not being subjected to external force. A key element 8 is provided, fixed to the unlocking key 3, which can slide together with the unlocking key. The key locking element 8 limits the working key 2 from being pushed forward by matching with a limit boss 11 on the side wall of the working key 2.

In the state that the automatic walking device is horizontally placed, the linear sliding of the working key 2 is performed forward or backward relative to the main structure of the automatic walking device along the horizontal direction or the direction close to the horizontal direction.

As shown in FIG. 43, the latch 3 is pushed by external force against the elastic component 9 to slide the latch member 8 downward, and the latch member 8 is separated from the height range of the limiting boss 11 on the operating key 2, at which time the operating key 2 can move forward.

Referring to fig. 47, 48, the stop key 5 is provided on the rear side of the unlock key; the stop key comprises a stop key main body and a supporting part arranged at the front end of the stop key main body. The second rotating shaft 6 is arranged between the stop key main body and the supporting part thereof in a penetrating way, so that when the stop key is pressed down, the supporting part is correspondingly lifted upwards. The supporting part is arranged at the lower side of the working key or the unlocking key, so that the working key or the unlocking key is lifted by the supporting part along with the pressing of the stop key. Thereby, the automatic traveling device stops operating. And when the stop key is in the initial state and is not pressed, the supporting part is positioned at the end position of the motion track of the pushed or pressed working key or unlocking key and is not contacted with the working key or unlocking key, and the working key or unlocking key is pushed or pressed completely according to the direct operation of an operator.

In order to facilitate the automatic walking device to sense the state of each key, the stop key main body or the supporting part or the working key can be provided with a magnetic body. And a Hall element is further arranged at the position, opposite to the magnetic body, of the lower side of the mounting frame or the control box of the combined key. The Hall element is used for sensing the magnetic body, so that the fact that each key is lifted up or pressed down can be known, and the automatic walking device is correspondingly controlled to be switched under different working states.

The above are merely embodiments of the present invention, which are described in detail and with particularity, and therefore should not be construed as limiting the scope of the invention. It should be noted that, for those skilled in the art, various changes and modifications can be made without departing from the spirit of the present invention, and these changes and modifications are within the scope of the present invention.

Claims

1. Combination button, including unlock key (3) and working key (2), the lock and the unblock of working key (2) are realized through self mechanical motion to unlock key (3), working key (2) trigger function instruction through self mechanical motion, its characterized in that, the mechanical motion direction of unlock key (3) and working key (2) is different.

2. The combination key of claim 1, further comprising:

a catch element (8) arranged for synchronous mechanical movement with the release catch (3);

the limiting boss (11) is arranged to mechanically move synchronously with the working key (2);

when the unlocking key (3) is in an initial state, the locking key element (8) and the limiting boss (11) are arranged in a close manner; in the process that the self mechanical motion of the unlocking key (3) is gradually separated from the initial state, the locking key element (8) is gradually separated from the limiting boss (11).

3. A combination key according to claim 2, characterised in that the locking element (8) is arranged to slide linearly in synchronism with the unlocking key (3); the limiting boss (11) is arranged to rotate synchronously with the working key (2); when the unlocking key (3) is in an initial state, the upper end surface of the locking key element (8) is abutted against the lower end surface of the limiting boss (11).

4. A combination key according to claim 3, characterized in that the front end of the limit boss (11) is provided with an unlocking notch (12), and after the key locking element (8) is separated from the limit boss (11), the key locking element (8) gradually enters the unlocking notch (12) along with the rotation process of the working key (2).

5. A combination key according to claim 2, characterised in that the catch element (8) is arranged to rotate synchronously with the release catch (3); the limiting boss (11) is arranged to slide linearly in synchronization with the working key (2); when the unlocking key (3) is in an initial state, the locking key element (8) is abutted against the limiting boss (11).

6. The combination key of claim 5, further comprising an unlocking notch (12) disposed above the position-limiting boss (11); in the process that the unlocking key (3) rotates and gradually departs from the initial state, the locking key element (8) gradually departs from the linear sliding path range of the limiting boss (11); after the locking key element (8) is separated from the limiting boss (11), the locking key element (8) gradually enters the unlocking notch (12) along with the rotation of the unlocking key (3); .

7. A combination key according to claim 2, characterised in that the catch element (8) is arranged to slide linearly in synchronism with the operating key (2); the limiting boss (11) is arranged to rotate synchronously with the unlocking key (3); when the unlocking key (3) is in an initial state, the locking key element (8) is abutted against the limiting boss (11).

8. The combination key of claim 7, further comprising an unlocking notch (12) disposed above the limiting boss (11), wherein the locking element (8) gradually enters the unlocking notch (12) along with the rotation of the unlocking key (3) after the locking element (8) is separated from the limiting boss (11).

9. A combination key according to claim 2, characterised in that the locking element (8) is arranged to slide linearly up and down in synchronism with the unlocking key (3); the limiting boss (11) is arranged to slide linearly in synchronization with the working key (2); when the unlocking key (3) is in an initial state, the front side surface of the limiting boss (11) abuts against the rear side surface of the locking key element (8).

10. A combination key according to claim 9, characterised in that it further comprises a sliding bar, the back or side of the unlocking key (3) is further provided with a sliding groove (4), and the sliding bar is mounted in the sliding groove (4).

11. A combination key according to claim 2, characterised in that the locking element (8) is arranged to slide linearly in synchronism with the unlocking key (3); the limiting boss (11) is arranged to linearly slide up and down synchronously with the working key (2); when the unlocking key (3) is in an initial state, the upper end surface of the locking key element (8) is abutted against the lower end surface of the limiting boss (11).

12. The combination key according to claim 11, wherein the front end of the limit boss (11) is provided with an unlocking notch (12), and after the key locking element (8) is separated from the limit boss (11), the key locking element (8) gradually enters the unlocking notch (12) along with the downward sliding process of the working key (2).

13. The combination key of claim 1, further comprising:

a catch element (8) arranged for synchronous mechanical movement with the operating key (2);

a limit groove (32) which is mechanically moved synchronously with the unlocking key (3);

when the unlocking key (3) is in an initial state, the locking key element (8) is positioned in the limiting groove (32); in the process that the self mechanical motion of the unlocking key (3) is gradually separated from the initial state, the locking key element (8) is gradually separated from the limiting groove (32).

14. A combination key according to claim 13, characterised in that the catch element (8) is arranged to rotate synchronously with the operating key (2); the limiting groove (32) is arranged to slide linearly in synchronization with the unlocking key (3); spacing groove (32) rear end is provided with out groove breach (33), and catch element (8) break away from behind spacing groove (32), along with the rotation process of working key (2), catch element (8) get into gradually out groove breach (33).

15. A combination key according to claim 13, characterised in that the catch element (8) is arranged to slide linearly in synchronism with the operating key (2); the limiting groove (32) is arranged to slide linearly up and down synchronously with the unlocking key (3); the combined key further comprises an unlocking notch (12) arranged above the limiting groove (32), and after the locking element (8) is separated from the limiting groove (32), the locking element (8) gradually enters the unlocking notch (12) along with the linear sliding of the working key (2).

16. A combination key according to claim 13, characterised in that the key-locking element (8) is arranged to slide linearly up and down linearly in synchronism with the key of the operating key (2); the limiting groove (32) is arranged to slide linearly in synchronization with the unlocking key (3).

17. The combination key of claim 7, wherein the rear end of the limiting groove (32) is provided with a groove disengaging notch (33), and after the key locking element (8) is disengaged from the limiting groove (32), the key locking element (8) gradually enters the groove disengaging notch (33) along with the downward sliding process of the working key (2).

18. Automatic walking device, characterized in that it has a combination key according to any of claims 1-17.