EP0365441A1 - Retroactive modular keyboard and flat modular activator - Google Patents
Retroactive modular keyboard and flat modular activator Download PDFInfo
- Publication number
- EP0365441A1 EP0365441A1 EP89420385A EP89420385A EP0365441A1 EP 0365441 A1 EP0365441 A1 EP 0365441A1 EP 89420385 A EP89420385 A EP 89420385A EP 89420385 A EP89420385 A EP 89420385A EP 0365441 A1 EP0365441 A1 EP 0365441A1
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- EP
- European Patent Office
- Prior art keywords
- coil
- flat
- keys
- module
- key
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10C—PIANOS, HARPSICHORDS, SPINETS OR SIMILAR STRINGED MUSICAL INSTRUMENTS WITH ONE OR MORE KEYBOARDS
- G10C3/00—Details or accessories
- G10C3/12—Keyboards; Keys
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H1/00—Details of electrophonic musical instruments
- G10H1/32—Constructional details
- G10H1/34—Switch arrangements, e.g. keyboards or mechanical switches specially adapted for electrophonic musical instruments
- G10H1/344—Structural association with individual keys
- G10H1/346—Keys with an arrangement for simulating the feeling of a piano key, e.g. using counterweights, springs, cams
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
- G10H2220/155—User input interfaces for electrophonic musical instruments
- G10H2220/221—Keyboards, i.e. configuration of several keys or key-like input devices relative to one another
- G10H2220/256—Keyboards, i.e. configuration of several keys or key-like input devices relative to one another foldable or rollable, e.g. for transport
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- G—PHYSICS
- G10—MUSICAL INSTRUMENTS; ACOUSTICS
- G10H—ELECTROPHONIC MUSICAL INSTRUMENTS; INSTRUMENTS IN WHICH THE TONES ARE GENERATED BY ELECTROMECHANICAL MEANS OR ELECTRONIC GENERATORS, OR IN WHICH THE TONES ARE SYNTHESISED FROM A DATA STORE
- G10H2220/00—Input/output interfacing specifically adapted for electrophonic musical tools or instruments
- G10H2220/155—User input interfaces for electrophonic musical instruments
- G10H2220/265—Key design details; Special characteristics of individual keys of a keyboard; Key-like musical input devices, e.g. finger sensors, pedals, potentiometers, selectors
- G10H2220/311—Key design details; Special characteristics of individual keys of a keyboard; Key-like musical input devices, e.g. finger sensors, pedals, potentiometers, selectors with controlled tactile or haptic feedback effect; output interfaces therefor
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S84/00—Music
- Y10S84/07—Electric key switch structure
Definitions
- the present invention relates to the field of electronic music keyboard devices and the production of an assembly of flat modular actuators.
- a first object of the present invention is to provide a keyboard of an electronic music device having more flexibility of manufacture and use than the keyboards of the prior art.
- the present invention provides a modular keyboard.
- Another object of the present invention is to provide such an apparatus in which the keys are retroactive, that is to say oppose to the actions of the user a reaction of a nature chosen according to the type of function which one wishes to confer to the button.
- Another object of the present invention has therefore been to provide a particular flat linear motor which can be assembled in modular fashion with other motors.
- This motor, or modular actuator according to the present invention can of course find other applications than those of a musical instrument keyboard, and could for example be used in the field of robotics; in this context, we can use key couplings to create complex movements such as pinch and gripping movements to form a manipulator.
- each key is an element of a self-contained flat parallelepiped module comprising a motor, a position sensor and electrical connection means, each module includes means for fixing it to the adjacent module, and the keys are connected to a central processing unit to give them the desired response by action on the motor and for process sensor signals.
- each module comprises a plate or mobile arm identical for all the keys, this plate comprising means for interchangeably fixing thereon facings having the desired appearance, shape and dimension corresponding to a considered, original or classic instrument.
- the present invention provides for an assembly of flat linear actuator modules.
- Each module comprises: a flat moving coil mounted on slides allowing it to slide in its plane in a determined direction, means for supplying current to the coil, on each side of this coil and a means substantially thereto plate for applying a magnetic field in a direction orthogonal to the plane of the coil, this field being in a first direction in a first half of the surface occupied by the coil at rest and in the opposite direction in the second half, and spacing means for maintaining a constant distance between the means for applying the magnetic field.
- this assembly only one magnetic field application means is present between two coils, and closing means surround the extreme magnetic field application means.
- the magnetic field application means are permanent magnets in the form of plates oriented in opposite directions in each half surface.
- the magnetic field application means are flat coils oriented in opposite directions in each half surface.
- this assembly comprises identical support chassis provided with spacing means with respect to neighboring chassis, each chassis comprising fixing means for carrying: a means for applying magnetic field, rods for guiding an adjacent flat moving coil, a position detector of said coil.
- FIG. 1 schematically illustrates the type of embodiment of a keyboard according to the present invention.
- This keyboard comprises individual modules 1, each of which comprises an actuating arm or plate 2. Inside the module are included: - a key position detector, - a motor or actuator element making it possible, depending on the action detected on the key, to provide a resistive and possibly restoring force determined by a central processor receiving from each key the position indication and supplying a command for the motor.
- each module is associated with an electronic card comprising means for preprocessing signals from the detector and means for amplifying control signals supplied in return by the central processor.
- these modules can be connected together in a simple manner, for example by snap-fastening or by fixing by rods and clamping.
- the trays or arms 2 can be provided with facings corresponding to the appearance of the keys musical instrument classics, for example a black key 4, a white key 6 and a joystick 8.
- the modular keyboard according to the present invention has the double advantage of being able to understand any number of keys but in addition that each key can be associated with a different function provided that the associated program is properly modified in the central processor to obtain the reactions corresponding to this type of key.
- FIG. 3 represents in an extremely schematic and simplified manner a type of motor suitable for producing actuator modules which can be used for example in a keyboard such as that illustrated in FIG. 1.
- This motor comprises means for creating a fixed magnetic field of shape plate, hereinafter called polarization elements, between which are arranged coils movable in translation in their plane.
- the voice coils receive a current determined by a central processor.
- Each polarization element is divided into two halves along a vertical plane, as shown in FIGS. 4A and 4B, so as to apply fields in each of these two halves in opposite directions.
- FIG. 4A represents the case where each polarization element comprises in its left part a magnet plate 10 whose north face is visible and in its right part a magnet plate 11 whose south face is visible.
- each plate could be divided into several elementary plates, for example 10-1 and 10-2 for the left part and 11-1 and 11-2 for the right side.
- FIG. 3 represents three polarization elements 14, 16 and 18 in the form of plates and three flat coils 20, 22 and 24.
- a closing plate of the magnetic field 26 for example a soft iron plate.
- a first closure plate 26 a polarization element 14 and then successive assemblies corresponding to each module comprising a movable flat coil 20 and a fixed polarization 16 then a second moving coil 22 associated with its polarization element 18.
- a field line closure plate similar to plate 26 will be placed behind this element 18.
- FIG. 3 shows that, except for the ends of the assembly, to add a module to an existing assembly, it suffices to add an assembly comprising a polarization element and a coil.
- the present invention provides elementary modules comprising, on a fixed chassis, provided with means of connection with the adjacent chassis, a support for a biasing element and a voice coil.
- FIG. 5 represents a perspective view a little more detailed than that of FIG. 3 but still very schematic of a set of two polarization elements 16 and 18 and of two moving coils 22 and 24.
- Each moving coil is linked to slides 30 and 31 capable of sliding on guide rods 32 and 33, these rods being, as will be seen below, secured to a chassis carrying a polarization element adjacent to the coil.
- a set of translation movement translation into rotation movement comprising a first arm 34 integral with the coil and moving from front to back and from back to front according to the direction of the current passing through the coil, and a second arm 35 articulated on an axis 36 also integral with the fixed frame of the polarization element associated with the coil considered.
- connection between the articulated arm 35 and the reciprocating arm 34 is effected by a conventional connection system designated schematically by a part in an arc of a circle 38.
- the arm 35 is linked to a third arm 37 which therefore moves in rotation relative to the axis 36.
- This third arm 37 corresponds to the aforementioned plate or actuating arm of the module considered.
- the dimensions of the various elements of the system for transforming translational movement into rotational movement, in relation to the value of possible displacement of the coil along the guide rods, will for example be chosen so that a possibility of debate is obtained. 10 ° rotation with respect to a rest position. It is on the arms or plates 37 that it will be possible to snap on or fix in another way chosen facings.
- FIG. 6 represents a front view of a schematic embodiment of a coil and of a magnetizing element mounted on a chassis to form an elementary module.
- the coil is designated by the reference 40 and its access terminals by the references 41 and 42.
- the polarization element comprises a plate 43 whose north face is visible and a plate 44 whose south face is visible so as to create opposite fields in the two vertical halves of the coil.
- the chassis 50 has a substantially flat rear face and comprises means for accommodating and locking, for example by force, the magnetization plates 43 and 44.
- the chassis comprises means 51, 52 and 53, 54 for fixing the guide rods 32 and 33 on which the moving coil 40 slides via the slides 30 and 31.
- a resistive strip 60 whose ends are secured to access terminals 61 and 62.
- this resistive strip can slide a short-circuit wiper 64 secured to the slide 31 so that the resistance between terminals 61 and 62 is representative of the position of the voice coil.
- projecting stops are provided to ensure a determined spacing with respect to the rear face of the adjacent chassis.
- lateral stops 71 to 74 and a central stop 75.
- the substantially planar rear face of the frames 50 will include notches intended, in cooperation with the stops 71 to 75 to be positioned relative to each other two successive chassis. Several chassis naturally "stick" to each other under the effect of magnetic attraction. It will however be preferable to provide passages for fixing rods or bolts.
- the field created by a voice coil should not have no influence on the adjacent coil. This will be the case if one ensures that the maximum field created by a coil when current flows through it does not exceed approximately one tenth of the field created by the polarizing elements.
- FIG. 7 schematically illustrates an example of matrix assembly.
- Coils B are arranged to undergo as previously the field of polarization elements grouping magnets of adjacent rows. However, it will be noted that here the concept of polarization element is not fixed as in the case of the linear assemblies previously described.
- FIG. 7 also schematically represents magnetic field closure plates 81-84, it being understood that the two plates 81 are connected by a magnetic path.
- the polarization elements instead of being permanent magnets could be flat iron core coils supplied with direct current, which constitutes a complementary adjustment means of the actuators making it possible to apply the same condition by modifying the field continuous of all polarization elements.
- the linear assembly could, with small variations in shape, be a ring assembly. It would then be useless to provide the closing parts magnetic field.
- the matrix assembly could be an assembly in concentric rings.
- the modular actuator according to the present invention has been described in its application to the creation of a keyboard.
- the actuator essentially serves to provide a reaction force to an action on a keyboard key.
- Another application of this actuator would be to make it actually act as a motor, for example in the context of robotic applications where it is often sought to bring together a large number of actuators in a small volume.
- the moving coils can include iron bands inserted between the turns of the copper band wound in a flat coil in order to optimize the consumption characteristic as a function of the power supplied; - various types of potentiometric, optical, inductive position sensors, for example, can be used; - the displacement of a coil can be used, via a contactor linked to this coil and associated with a multipole switch to cause a determined sequential actuation of several other coils of a given set; - two or more moving coils of the same assembly can be mechanically and / or electrically coupled ...
- FIG. 8 An example of such an association is illustrated diagrammatically in FIG. 8.
- keys 80 which correspond to the ends of the arms or plates designated by the reference 37 in FIGS. 5 and 6 and by the reference 2 in Figure 1.
- two keys 80-1 and 80-2 are associated by an arm 82.
- One end of the arm 82 is rotatably mounted on an axis 84 integral with the key 80-2 and extending the latter perpendicularly in the plane of the figure.
- the other end of the arm 82 is mounted on the key 80-1 by a set 86 (similar to the set 38 in FIG. 5) for transforming rectilinear movement into circular movement.
- This assembly 86 may include a plane fixed to the key 80-1 and facing the key 80-2.
- a ball joint 88 consisting of a portion of cylinder of axis 84 rests against the plane 87.
- the plane 87 can be associated with the cylinder 88 by a cable fixed to the upper and lower ends of the plane 87 and making a loop around the ball joint, which results in a rolling without friction or friction of the ball joint 88 on the plane 87.
- a rod 90 mounted on the arm 82 its end 92 can move in a plane inside a contour 94 to move the keys 80-1 and 80-2 or on the contrary by being moved by them .
- the rod actuates the keys, it can be used to simulate the behavior of a joy stick with two degrees of freedom. It will also be noted that a movement with two degrees of freedom can constitute a simplified representation of the displacement of a violin bow.
- FIG. 9 very schematically illustrates the association of two assemblies of the type of that of FIG. 8 on the ends of keys 80-1 and 80-2, on the one hand, and 80-3 and 80-4, on the other hand go.
- the end 100 of the rod of the first assembly is designated by the reference 100 and by the reference 101 the end of the second assembly rod. Note that we can give these rods pinching movements for gripping objects.
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- Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Acoustics & Sound (AREA)
- Multimedia (AREA)
- Reciprocating, Oscillating Or Vibrating Motors (AREA)
- Electrophonic Musical Instruments (AREA)
- Input From Keyboards Or The Like (AREA)
Abstract
Description
La présente invention concerne le domaine des appareils de musique électronique à clavier et la réalisation d'un assemblage d'actionneurs modulaires plats.The present invention relates to the field of electronic music keyboard devices and the production of an assembly of flat modular actuators.
Dans les appareils de musique électronique, on a fait de très nombreux progrès quant à la partie électronique proprement dite et, du point de vue musical, un appareil donné peut remplir de très nombreuses fonctions grâce aux divers programmes que l'on peut introduire dans un processeur de commande. Toutefois, la partie mécanique des appareils électroniques à clavier reste encore assez primitive. Elle manque de souplesse à de nombreux égards :
- d'une part, il n'est généralement pas possible de remplacer en un emplacement choisi du clavier un type de touche par un autre (par exemple une touche de piano par un joy stick (manche de commande), une touche blanche par une touche noire, etc.) ;
- d'autre part, l'ensemble des touches constituant le clavier est fixé à l'avance et il n'est pas possible pour l'utilisateur d'augmenter le nombre de touches sans acheter un nouveau clavier complet.In electronic music devices, there have been many advances in the electronic part itself and, from a musical point of view, a given device can fulfill many functions thanks to the various programs that can be introduced into a command processor. However, the mechanical part of electronic keyboard devices is still quite primitive. It lacks flexibility in many ways:
- on the one hand, it is generally not possible to replace at one chosen location on the keyboard one type of key with another (for example a piano key with a joy stick (control stick), a white key with a black button, etc.);
- on the other hand, all the keys constituting the keyboard are fixed in advance and it is not possible for the user to increase the number of keys without buying a new complete keyboard.
Ainsi, un premier objet de la présente invention est de prévoir un clavier d'appareil de musique électronique présentant plus de souplesse de fabrication et d'utilisation que les claviers de l'art antérieur.Thus, a first object of the present invention is to provide a keyboard of an electronic music device having more flexibility of manufacture and use than the keyboards of the prior art.
Pour cela, la présente invention propose un clavier modulaire.For this, the present invention provides a modular keyboard.
Un autre objet de la présente invention est de prévoir un tel appareil dans lequel les touches soient rétroactives, c'est-à-dire opposent aux actions de l'utilisateur une réaction de nature choisie selon le type de fonction que l'on souhaite conférer à la touche.Another object of the present invention is to provide such an apparatus in which the keys are retroactive, that is to say oppose to the actions of the user a reaction of a nature chosen according to the type of function which one wishes to confer to the button.
Pour obtenir cette rétroactivité, comme cela est connu, il convient d'associer à chaque module de touche un élément moteur. L'un des préjugés que l'invention a dû vaincre réside dans le fait que la réalisation d'un élément moteur de puissance appropriée et suffisamment plat pour tenir dans l'espace alloué par exemple à une touche de piano, semblait un obstacle insurmontable techniquement et/ou économiquement. En effet, si l'on considère une octave de piano, classique (12 touches), elle occupe une largeur de 165 millimètres, c'est-à-dire que la mécanique associée à chaque touche a une largeur qui ne doit excéder 13,75 millimètres. Pour réaliser un système parfaitement modulaire, il est souhaitable que chaque élément moteur ne dépasse pas cette largeur. Sinon, on serait obligé de décaler les éléments moteurs les uns par rapport aux autres ce qui entraînerait que le système ne serait plus parfaitement modulaire.To obtain this retroactivity, as is known, it is necessary to associate with each key module a motor element. One of the prejudices which the invention had to overcome resides in the fact that the realization of a motor element of suitable power and sufficiently flat to fit in the space allocated for example to a piano key, seemed an insurmountable obstacle technically and / or economically. Indeed, if we consider a classical piano octave (12 keys), it occupies a width of 165 millimeters, that is to say that the mechanics associated with each key has a width which must not exceed 13, 75 millimeters. To achieve a perfectly modular system, it is desirable that each motor element does not exceed this width. Otherwise, we would have to shift the motor elements relative to each other, which would mean that the system would no longer be perfectly modular.
Ainsi, un autre objet de la présente invention a été de prévoir un moteur linéaire plat particulier pouvant être assemblé de façon modulaire avec d'autres moteurs. Ce moteur, ou actionneur modulaire selon la présente invention peut bien entendu trouver d'autes applications que celles d'un clavier d'instrument de musique, et pourra par exemple être utilisé dans le domaine de la robotique ; dans ce cadre, on pourra utiliser des couplages de touches pour créer dans mouvements complexes tels que des mouvements de pincement et de préhension pour former un manipulateur.Another object of the present invention has therefore been to provide a particular flat linear motor which can be assembled in modular fashion with other motors. This motor, or modular actuator according to the present invention can of course find other applications than those of a musical instrument keyboard, and could for example be used in the field of robotics; in this context, we can use key couplings to create complex movements such as pinch and gripping movements to form a manipulator.
Pour atteindre ces objets ainsi que d'autres, la présente invention prévoit un clavier rétroactif modulaire muni de touches permettant de renvoyer à l'utilisateur une sensation caractéristique de ladite touche, dans lequel chaque touche est un élément d'un module parallélépipédique plat autonome comprenant un moteur, un capteur de position et des moyens de connexion électrique, chaque module comprend des moyens pour le fixer au module adjacent, et les touches sont reliées à une unité centrale de traitement pour leur conférer la réponse souhaitée par action sur le moteur et pour traiter les signaux du capteur.To achieve these and other objects, the present invention provides a modular retroactive keyboard provided with keys making it possible to return to the user a characteristic sensation of said key, in which each key is an element of a self-contained flat parallelepiped module comprising a motor, a position sensor and electrical connection means, each module includes means for fixing it to the adjacent module, and the keys are connected to a central processing unit to give them the desired response by action on the motor and for process sensor signals.
Selon un mode de réalisation de l'invention, chaque module comprend un plateau ou bras mobile identique pour toutes les touches, ce plateau comprenant des moyens pour y fixer de façon interchangeable des parements ayant l'aspect, la forme et la dimension désirés correspondant à un instrument considéré, original ou de type classique.According to one embodiment of the invention, each module comprises a plate or mobile arm identical for all the keys, this plate comprising means for interchangeably fixing thereon facings having the desired appearance, shape and dimension corresponding to a considered, original or classic instrument.
Selon son autre aspect, la présente invention prévoit un assemblage de modules actionneurs linéaires plats. Chaque module comprend : une bobine mobile plate montée sur des glissières lui permettant de coulisser dans son plan dans une direction déterminée, des moyens d'alimentation en courant de la bobine, de chaque côté de cette bobine et sensiblement parallèlement à celle-ci un moyen plat d'application d'un champ magnétique dans une direction orthogonale au plan de la bobine, ce champ étant dans un premier sens dans une première moitié de la surface occupée par la bobine au repos et du sens opposé dans la deuxième moitié, et des moyens d'espacement pour maintenir un écart constant entre les moyens d'application de champ magnétique. Dans cet assemblage, un seul moyen d'application de champ magnétique est présent entre deux bobines, et des moyens de fermeture encadrent les moyens d'application de champ magnétique extrêmes.According to another aspect, the present invention provides for an assembly of flat linear actuator modules. Each module comprises: a flat moving coil mounted on slides allowing it to slide in its plane in a determined direction, means for supplying current to the coil, on each side of this coil and a means substantially thereto plate for applying a magnetic field in a direction orthogonal to the plane of the coil, this field being in a first direction in a first half of the surface occupied by the coil at rest and in the opposite direction in the second half, and spacing means for maintaining a constant distance between the means for applying the magnetic field. In this assembly, only one magnetic field application means is present between two coils, and closing means surround the extreme magnetic field application means.
Selon un mode de réalisation de la présente invention, les moyens d'application de champ magnétique sont des aimants permanents en forme de plaquettes orientés de façon opposée dans chaque demi surface.According to one embodiment of the present invention, the magnetic field application means are permanent magnets in the form of plates oriented in opposite directions in each half surface.
Selon un mode de réalisation de la présente invention, les moyens d'application de champ magnétique sont des bobines plates orientées de façon opposée dans chaque demi surface.According to an embodiment of the present invention, the magnetic field application means are flat coils oriented in opposite directions in each half surface.
Selon un mode de réalisation de la présente invention, cet assemblage comprend des châssis support identiques munis de moyens d'espacement par rapport aux châssis voisins, chaque châssis comportant des moyens de fixation pour porter : un moyen d'application de champ magnétique, des tiges de guidage d'une bobine mobile plate adjacente, un détecteur de position de ladite bobine.According to one embodiment of the present invention, this assembly comprises identical support chassis provided with spacing means with respect to neighboring chassis, each chassis comprising fixing means for carrying: a means for applying magnetic field, rods for guiding an adjacent flat moving coil, a position detector of said coil.
Ces objets, caractéristiques et avantages ainsi que d'autres de la présente invention seront exposés plus en détail dans la description suivante d'exemples de réalisation faite en relation avec les figures parmi lesquelles :
- la figure 1 représente un clavier selon la présente invention constituée de touches modulaires ;
- la figure 2 illustre le fait que l'on peut associer à chaque touche diverses fonctions ;
- la figure 3 représente de façon extrêmement schématique un actionneur modulaire selon la présente invention ;
- les figures 4A et 4B représentent des vues de dessus d'aimants compris dans un module de l'actionneur selon la présente invention ;
- la figure 5 représente une vue en perspective schématique simplifiée de deux modules d'un actionneur selon la présente invention ;
- la figure 6 représente une vue de face d'un module actionneur selon la présente invention ;
- la figure 7 illustre schématiquement un assemblage matriciel de modules actionneurs selon la présente invention ;
- la figure 8 représente un mode de couplage de touches distinctes avec un bras dont l'extrémité peut se déplacer dans un plan ; et
- la figure 9 représente l'association de deux bras selon la figure 8, formant un manipulateur.
- Figure 1 shows a keyboard according to the present invention consisting of modular keys;
- FIG. 2 illustrates the fact that various functions can be associated with each key;
- FIG. 3 is an extremely diagrammatic representation of a modular actuator according to the present invention;
- FIGS. 4A and 4B represent top views of magnets included in a module of the actuator according to the present invention;
- FIG. 5 represents a simplified schematic perspective view of two modules of an actuator according to the present invention;
- FIG. 6 represents a front view of an actuator module according to the present invention;
- FIG. 7 schematically illustrates a matrix assembly of actuator modules according to the present invention;
- FIG. 8 represents a mode of coupling of separate keys with an arm, the end of which can move in a plane; and
- FIG. 9 represents the association of two arms according to FIG. 8, forming a manipulator.
Ainsi, la figure 1 illustre schématiquement le type de réalisation d'un clavier selon la présente invention. Ce clavier comprend des modules individuels 1 dont chacun comprend un bras ou plateau d'actionnement 2. A l'intérieur du module sont compris :
- un détecteur de position de la touche,
- un élément moteur ou actionneur permettant, en fonction de l'action détectée sur la touche, de fournir une force résistive et éventuellement de rappel déterminée par un processeur central recevant de chaque touche l'indication de position et fournissant une commande pour le moteur.Thus, Figure 1 schematically illustrates the type of embodiment of a keyboard according to the present invention. This keyboard comprises individual modules 1, each of which comprises an actuating arm or plate 2. Inside the module are included:
- a key position detector,
- a motor or actuator element making it possible, depending on the action detected on the key, to provide a resistive and possibly restoring force determined by a central processor receiving from each key the position indication and supplying a command for the motor.
En outre, à chaque module est associée une carte électronique comprenant des moyens de prétraitement de signaux du détecteur et des moyens d'amplication de signaux de commande fournis en retour par le processeur central.In addition, each module is associated with an electronic card comprising means for preprocessing signals from the detector and means for amplifying control signals supplied in return by the central processor.
Selon une caractéristique de l'invention, ces modules peuvent être reliés ensemble de façon simple, par exemple par encliquetage ou par fixation par tiges et serrage.According to a characteristic of the invention, these modules can be connected together in a simple manner, for example by snap-fastening or by fixing by rods and clamping.
Selon un aspect de l'invention, comme le représente la figure 2, dans le cas où le clavier est destiné à former un clavier d'instrument de musique, les plateaux ou bras 2 peuvent être munis de parements correspondant à l'aspect des touches classiques de l'instrument de musique, par exemple une touche noire 4, une touche blanche 6 et un joy stick 8.According to one aspect of the invention, as shown in FIG. 2, in the case where the keyboard is intended to form a musical instrument keyboard, the trays or arms 2 can be provided with facings corresponding to the appearance of the keys musical instrument classics, for example a black key 4, a white key 6 and a joystick 8.
Ainsi, le clavier modulaire selon la présente invention présente le double avantage de pouvoir comprendre un nombre de touches quelconque mais en plus que chaque touche peut être associée à une fonction différente à condition de modifier convenablement le programme associé dans le processeur central pour avoir les réactions correspondant à ce type de touche.Thus, the modular keyboard according to the present invention has the double advantage of being able to understand any number of keys but in addition that each key can be associated with a different function provided that the associated program is properly modified in the central processor to obtain the reactions corresponding to this type of key.
En outre, comme cela sera exposé en relation avec les figures 8 et 9, il est possible de coupler plusieurs touches pour les actionner simultanément pour créer par exemple une fonction analogue à celle d'un archet.In addition, as will be explained in relation to FIGS. 8 and 9, it is possible to couple several keys to actuate them simultaneously to create, for example, a function analogous to that of a bow.
La figure 3 représente de façon extrêmement schématique et simplifiée un type de moteur approprié à la réalisation de modules d'actionneurs utilisables par exemple dans un clavier tel que celui illustré en figure 1. Ce moteur comprend des moyens de création de champ magnétique fixes de forme plate, ci-après appelés éléments de polarisation, entre lesquels sont disposées des bobines mobiles en translation dans leur plan. Les bobines mobiles reçoivent un courant déterminé par un processeur central.FIG. 3 represents in an extremely schematic and simplified manner a type of motor suitable for producing actuator modules which can be used for example in a keyboard such as that illustrated in FIG. 1. This motor comprises means for creating a fixed magnetic field of shape plate, hereinafter called polarization elements, between which are arranged coils movable in translation in their plane. The voice coils receive a current determined by a central processor.
Chaque élément de polarisation est divisé en deux moitiés selon un plan vertical, comme le représentent les figures 4A et 4B, de façon à appliquer dans chacune de ces deux moitiés des champs en direction opposée.Each polarization element is divided into two halves along a vertical plane, as shown in FIGS. 4A and 4B, so as to apply fields in each of these two halves in opposite directions.
La figure 4A représente le cas où chaque élément de polarisation comprend dans sa partie gauche une plaque d'aimant 10 dont la face nord est apparente et dans sa partie droite une plaque d'aimant 11 dont la face sud est apparente.FIG. 4A represents the case where each polarization element comprises in its left part a magnet plate 10 whose north face is visible and in its right part a magnet plate 11 whose south face is visible.
Comme le représente la figure 4B, pour des questions de commodité et de coût des aimants, chaque plaque pourrait être divisée en plusieurs plaques élémentaires, par exemple 10-1 et 10-2 pour la partie gauche et 11-1 et 11-2 pour la partie droite.As shown in FIG. 4B, for reasons of convenience and cost of the magnets, each plate could be divided into several elementary plates, for example 10-1 and 10-2 for the left part and 11-1 and 11-2 for the right side.
Plus particulièrement, la figure 3 représente trois éléments de polarisation 14, 16 et 18 en forme de plaques et trois bobines plates 20, 22 et 24. En outre, à gauche de l'élément de polarisation 14 qui se trouve à une extrémité d'un ensemble de modules, est disposée une plaque de fermeture du champ magnétique 26, par exemple une plaque en fer doux. Ainsi, par exemple, pour constituer un assemblage de deux modules selon la présente invention, on assemblera successivement une première plaque de fermeture 26, un élément de polarisation 14 puis des ensembles successifs correspondant à chaque module comprenant une bobine plate mobile 20 et un élément de polarisation fixe 16 puis une deuxième bobine mobile 22 associée à son élément de polarisation 18. Pour réaliser un ensemble à deux modules seulement, au lieu de placer une nouvelle bobine 24 derrière l'élément de polarisation 18 comme cela est représenté, on placera derrière cet élément 18 une plaque de fermeture de lignes de champ similaire à la plaque 26.More particularly, FIG. 3 represents three
L'assemblage de la figure 3 montre que, en exceptant les extrémités de l'assemblage, pour ajouter un module à un ensemble existant, il suffit d'ajouter un ensemble comprenant un élément de polarisation et une bobine.The assembly of FIG. 3 shows that, except for the ends of the assembly, to add a module to an existing assembly, it suffices to add an assembly comprising a polarization element and a coil.
Ainsi, comme on le verra ci-après, la présente invention prévoit des modules élémentaires comprenant, sur un châssis fixe, muni de moyens de liaison avec les châssis adjacents, un support d'élément de polarisation et de bobine mobile.Thus, as will be seen below, the present invention provides elementary modules comprising, on a fixed chassis, provided with means of connection with the adjacent chassis, a support for a biasing element and a voice coil.
La figure 5 représente une vue en perspective un peu plus détaillée que celle de la figure 3 mais encore très schématique d'un ensemble de deux éléments de polarisation 16 et 18 et de deux bobines mobiles 22 et 24. Chaque bobine mobile est liée à des glissières 30 et 31 susceptibles de coulisser sur des tiges de guidage 32 et 33, ces tiges étant comme on le verra ci-après solidaires d'un châssis portant un élément de polarisation adjacent à la bobine. En outre, à chaque bobine est fixé un ensemble de transformation de mouvement de translation en mouvement de rotation comprenant un premier bras 34 solidaire de la bobine et se déplaçant d'avant en arrière et d'arrière en avant selon le sens du courant passant dans la bobine, et un deuxième bras 35 articulé sur un axe 36 également solidaire du châssis fixe de l'élément de polarisation associé à la bobine considérée. La liaison entre le bras articulé 35 et le bras se déplaçant en va-et-vient 34 se fait par un système de liaison classique désigné schématiquement par une partie en arc de cercle 38. Le bras 35 est lié à un troisième bras 37 qui se déplace donc en rotation par rapport à l'axe 36. Ce troisième bras 37 correspond au plateau ou bras d'actionnement susmentionné du module considéré. Les dimensions des divers éléments du système de transformation de mouvement de translation en mouvement de rotation, en relation avec la valeur de déplacement possible de la bobine le long des tiges de guidage, seront par exemple choisies pour que l'on obtienne une possibilité de débat tement en rotation de 10° par rapport à une position de repos. C'est sur les bras ou plateaux 37 que l'on pourra encliqueter ou fixer d'une autre manière des parements choisis.FIG. 5 represents a perspective view a little more detailed than that of FIG. 3 but still very schematic of a set of two
Bien entendu d'autres moyens de transformation de mouvement de translation en mouvement de rotation pourront être utilisés et, pour d'autres applications, on pourra également chercher à utiliser directement le mouvement de translation de la bobine mobile.Of course, other means for transforming the translational movement into the rotational movement can be used and, for other applications, we can also seek to use the translational movement of the voice coil directly.
La figure 6 représente en vue de face un exemple de réalisation schématique d'une bobine et d'un élément d'aimantation montés sur un châssis pour former un module élémentaire.FIG. 6 represents a front view of a schematic embodiment of a coil and of a magnetizing element mounted on a chassis to form an elementary module.
La bobine est désignée par la référence 40 et ses bornes d'accès par les références 41 et 42.The coil is designated by the
L'élément de polarisation comprend une plaque 43 dont la face nord est apparente et une plaque 44 dont la face sud est apparente de façon à créer des champs opposés dans les deux moitiés verticales de la bobine.The polarization element comprises a
Comme dans le cas de la figure 5, on a représenté un système de transformation du mouvement de translation de la bobine en un mouvement de rotation, désigné par les mêmes références 34 à 38.As in the case of FIG. 5, a system for transforming the translational movement of the coil into a rotational movement has been shown, designated by the
Le châssis 50 a une face arrière sensiblement plane et comprend des moyens pour loger et bloquer, par exemple à force, les plaques d'aimantation 43 et 44. Le châssis comprend des moyens 51, 52 et 53, 54 de fixation des tiges de guidage 32 et 33 sur lesquelles coulisse la bobine mobile 40 par l'intermédiaire des glissières 30 et 31.The
On a également représenté à la partie supérieure du châssis, une bande résistive 60 dont les extrémités sont solidaires de bornes d'accès 61 et 62. Sur cette bande résistive peut coulisser un frotteur de court-circuit 64 solidaire de la glissière 31 de sorte que la résistance entre les bornes 61 et 62 est représentative de la position de la bobine mobile.Also shown at the upper part of the chassis, a
D'autre part, des butées en saillie sont prévues pour assurer un espacement déterminé par rapport à la face arrière du châssis adjacent. On a représenté quatre butées latérales 71 à 74 et une butée centrale 75. De préférence, la face arrière sensiblement plane des châssis 50 comprendra des encoches destinées, en coopération avec les butées 71 à 75 à positionner l'un par rapport à l'autre deux châssis successifs. Plusieurs châssis se "collent" naturellement les uns aux autres sous l'effet de l'attraction magnétique. Il sera toutefois préférable de prévoir des passages de tiges ou boulons de fixation.On the other hand, projecting stops are provided to ensure a determined spacing with respect to the rear face of the adjacent chassis. There are shown four
Comme cela sera clair pour l'homme de l'art, pour que l'ensemble de modules actionneurs tels qu'illustrés en figures 3, 5 et 6 fonctionne de façon satisfaisante, il convient que le champ créé par une bobine mobile n'ait pas d'influence sur la bobine adjacente. Ceci sera le cas si l'on veille à ce que le champ maximal crée par une bobine quand du courant la traverse ne dépasse pas environ le dixième du champ créé par les éléments de polarisation.As will be clear to those skilled in the art, for the set of actuator modules as illustrated in FIGS. 3, 5 and 6 to function satisfactorily, the field created by a voice coil should not have no influence on the adjacent coil. This will be the case if one ensures that the maximum field created by a coil when current flows through it does not exceed approximately one tenth of the field created by the polarizing elements.
En revenant sur la figure 3, on soulignera qu'un élément de polarisation sert aux deux bobines qui l'encadrent. Ceci permet d'obtenir un moteur plat particulièrement compact.Returning to FIG. 3, it will be emphasized that a polarization element is used for the two coils which surround it. This makes it possible to obtain a particularly compact flat motor.
Les contraintes exposées précédemment (largeur de 13,75 mn par module pour un clavier de piano) ont facilement pu être satisfaites dans le cadre d'un dispositif expérimental selon la présente invention en utilisant des éléments classiques comprenant des bobines plates d'une épaisseur de l'ordre de 6 mm, ces bobines s'incrivant dans un rectangle de 60 mm x 120 mm, et les éléments de polarisation étant constitués de plaques d'aimant aux terres rares d'une épaisseur de 6 mm, ce qui laisse un entrefer de part et d'autre de chaque bobine inférieur à 1 mm (1,75/2 mm).The constraints set out above (width of 13.75 min per module for a piano keyboard) could easily be satisfied within the framework of an experimental device according to the present invention by using conventional elements comprising flat coils with a thickness of on the order of 6 mm, these coils being written in a rectangle of 60 mm x 120 mm, and the polarization elements being made up of rare earth magnet plates with a thickness of 6 mm, which leaves a gap on each side of each coil less than 1 mm (1.75 / 2 mm).
On a représenté jusqu'ici une forme linéaire d'assemblage modulaire d'actionneurs plats. D'autres types d'assemblages sont également possibles.Hitherto, a linear form of modular assembly of flat actuators has been shown. Other types of assemblies are also possible.
La figure 7 illustre schématiquement un exemple d'assemblage matriciel. Cet assemblage est constitué d'aimants plats Aij (vus en bout) disposés en 4 rangées (i=1...4) et 4 colonnes (j=1...4). Tous les aimants d'une colonne ont le même sens d'aimantation (symbolisé par une flèche) et les aimants de deux colonnes adjacentes ont des sens d'aimantation opposés. Des bobines B sont disposées pour subir comme précédemment le champ d'éléments de polarisation regroupant des aimants de rangées adjacentes. Toutefois, on notera qu'ici la notion d'élément de polarisation n'est pas figée comme dans le cas des assemblages linéaires précédemment décrits. Comme le montre la figure, alors que pour les bobines B11, B12, B21, B22 les éléments de polarisation correspondent à des aimants des colonnes 1 et 2 et des colonnes 3 et 4, par contre, pour la bobine B31, les éléments de polarisation regroupent des aimants des colonnes 2 et 3. Ceci augmente la souplesse de conception, et permet des agencements d'actionneurs très denses et susceptibles de s'adapter à des besoins particuliers.FIG. 7 schematically illustrates an example of matrix assembly. This assembly consists of Aij flat magnets (seen at the end) arranged in 4 rows (i = 1 ... 4) and 4 columns (j = 1 ... 4). All the magnets in one column have the same direction of magnetization (symbolized by an arrow) and the magnets in two adjacent columns have opposite directions of magnetization. Coils B are arranged to undergo as previously the field of polarization elements grouping magnets of adjacent rows. However, it will be noted that here the concept of polarization element is not fixed as in the case of the linear assemblies previously described. As shown in the figure, while for coils B11, B12, B21, B22 the polarization elements correspond to magnets in columns 1 and 2 and columns 3 and 4, on the other hand, for coil B31, the polarization elements group magnets in columns 2 and 3. This increases design flexibility, and allows very dense actuator arrangements capable of adapting to particular needs.
La figure 7 représente également de façon schématique des plaques de fermeture de champ magnétique 81-84, étant entendu que les deux plaques 81 sont reliées par un trajet magnétique.FIG. 7 also schematically represents magnetic field closure plates 81-84, it being understood that the two
Bien entendu, la présente invention est susceptible de nombreuses variantes et modifications.Of course, the present invention is susceptible of numerous variants and modifications.
Par exemple, les éléments de polarisation au lieu d'être des aimants permanents pourraient être des bobines plates à noyau de fer alimentées en courant continu, ce qui constitue un moyen de réglage complémentaire des actionneurs permettant d'appliquer une même condition en modifiant le champ continu de tous les éléments de polarisation.For example, the polarization elements instead of being permanent magnets could be flat iron core coils supplied with direct current, which constitutes a complementary adjustment means of the actuators making it possible to apply the same condition by modifying the field continuous of all polarization elements.
D'autre part, outre les assemblages précédemment décrits en rangée linéaire et en matrice, d'autres dispositions pourront être adoptées. Par exemple, l'assemblage linéaire pourrait, moyennant de petites variations de forme, être un assemblage en anneau. Il serait alors inutile de prévoir les pièces de fermeture de champ magnétique. De même l'assemblage matriciel pourrait être un assemblage en anneaux concentriques.On the other hand, in addition to the assemblies previously described in a linear row and in a matrix, other arrangements could be adopted. For example, the linear assembly could, with small variations in shape, be a ring assembly. It would then be useless to provide the closing parts magnetic field. Similarly, the matrix assembly could be an assembly in concentric rings.
Par ailleurs, on a décrit l'actionneur modulaire selon la présente invention dans son application à la création d'un clavier. En ce cas, l'actionneur sert essentiellement à fournir une force de réaction à une action sur une touche du clavier. Une autre application de cet actionneur consisterait à la faire agir réellement comme moteur, par exemple dans le cadre d'applications robotiques où l'on cherche souvent à rassembler un grand nombre d'actionneurs dans un petit volume.Furthermore, the modular actuator according to the present invention has been described in its application to the creation of a keyboard. In this case, the actuator essentially serves to provide a reaction force to an action on a keyboard key. Another application of this actuator would be to make it actually act as a motor, for example in the context of robotic applications where it is often sought to bring together a large number of actuators in a small volume.
Parmi des exemples d'autres variantes possibles de l'invention on peut citer les suivants :
- les bobines mobiles peuvent comprendre des bandes de fer intercalées entre les tours de la bande de cuivre enroulée en bobine plate dans un but d'optimisation de la caractéristique de consommation en fonction de la puissance fournie ;
- divers types de capteurs de position potentiométriques, optiques, inductifs, par exemple, peuvent être utilisés ;
- le déplacement d'une bobine peut être utilisé, par l'intermédiaire d'un contacteur lié à cette bobine et associé à un commutateur multipolaire pour provoquer un actionnement séquentiel déterminé de plusieurs autres bobines d'un ensemble donné ;
- deux ou plusieurs bobines mobiles d'un même assemblage peuvent être couplées mécaniquement et/ou électriquement...Examples of other possible variants of the invention include the following:
- the moving coils can include iron bands inserted between the turns of the copper band wound in a flat coil in order to optimize the consumption characteristic as a function of the power supplied;
- various types of potentiometric, optical, inductive position sensors, for example, can be used;
- the displacement of a coil can be used, via a contactor linked to this coil and associated with a multipole switch to cause a determined sequential actuation of several other coils of a given set;
- two or more moving coils of the same assembly can be mechanically and / or electrically coupled ...
Ainsi, selon une variante de la présente invention, il est possible d'associer plusieurs touches pour obtenir par une commande unique l'actionnement de plusieurs touches d'un clavier ou bien inversement pour que l'actionnement des moteurs de plusieurs touches produise un mouvement à plusieurs degrés de liberté.Thus, according to a variant of the present invention, it is possible to associate several keys to obtain by a single command the actuation of several keys of a keyboard or alternatively so that the actuation of the motors of several keys produces a movement with several degrees of freedom.
Un exemple d'une telle association est illustré schématiquement en figure 8. On y voit, en vue en bout, l'extrémité de touches 80, qui correspondent aux extrémités des bras ou plateaux désignés par la référence 37 en figures 5 et 6 et par la référence 2 en figure 1. Plus particulièrement, deux touches 80-1 et 80-2 sont associées par un bras 82. Une extrémité du bras 82 est montée à rotation sur un axe 84 solidaire de la touche 80-2 et prolongeant celle-ci perpendiculairement au plan de la figure. L'autre extrémité du bras 82 est montée sur la touche 80-1 par un ensemble 86 (analogue à l'ensemble 38 à la figure 5) de transformation de mouvement rectiligne en mouvement circulaire. Cet ensemble 86 peut comprendre un plan fixé à la touche 80-1 et tourné vers la touche 80-2. Une rotule 88 constituée d'une portion de cylindre d'axe 84 s'appuie contre le plan 87. De façon classique, le plan 87 peut être associé au cylindre 88 par un câble fixé aux extrémités haute et basse du plan 87 et faisant une boucle autour de la rotule, d'où il résulte que l'on obtient un roulement sans glissement ni frottement de la rotule 88 sur le plan 87.An example of such an association is illustrated diagrammatically in FIG. 8. There can be seen, in end view, the end of
En considérant une tige 90 montée sur le bras 82, son extrémité 92 pourra se déplacer dans un plan à l'intérieur d'un contour 94 pour mouvoir les touches 80-1 et 80-2 ou au contraire en étant mue par celles-ci. Dans le cas où c'est la tige qui actionne les touches, elle pourra être utilisée pour simuler le comportement d'un joy stick à deux degrés de liberté. On notera également qu'un mouvement à deux degrés de liberté peut constituer une représentation simplifiée du déplacement d'un archet de violon.Considering a
La figure 9 illustre très schématiquement l'association de deux assemblages du type de celui de la figure 8 sur des extrémités de touches 80-1 et 80-2, d'une part, et 80-3 et 80-4, d'autre part.FIG. 9 very schematically illustrates the association of two assemblies of the type of that of FIG. 8 on the ends of keys 80-1 and 80-2, on the one hand, and 80-3 and 80-4, on the other hand go.
Bien entendu un décrochement ou des échancrures sont ménagés dans les pièces de ces ensembles pour qu'elles n'entrent pas en contact. On désigne par la référence 100 l'extrémité de la tige du premier ensemble et par la référence 101 l'extrémité de la tige du deuxième ensemble. On notera que l'on peut conférer à ces tiges des mouvements de pincement permettant la préhension d'objets.Of course, a recess or notches are provided in the parts of these assemblies so that they do not come into contact. The
On pourra également obtenir des déplacements complexes en montant sur les extrémités 100 et 101 un arbre par des rotules et glissières.It will also be possible to obtain complex displacements by mounting on the
D'autre part l'homme de l'art notera que d'autres procédés peuvent être utilisés pour associer deux touches, par exemple un bras télescopique articulé à chaque extrémité sur chaque touche ou deux bras reliés entre eux par une articulation et ayant chacun une extrémité articulée sur une touche. On pourra également prévoir des associations de plus de deux touches.On the other hand, those skilled in the art will note that other methods can be used to associate two keys, for example a telescopic arm articulated at each end on each key or two arms connected together by an articulation and each having a hinged end on a button. We can also provide combinations of more than two keys.
Claims (8)
chaque touche est un élément d'un module parallélépipédique plat autonome (1) comprenant un moteur, un capteur de position et des moyens de connexion électrique,
chaque module comprend des moyens pour le fixer au module adjacent,
les touches sont reliées à une unité centrale de traitement pour leur conférer la réponse souhaitée par action sur le moteur et pour traiter les signaux du capteur.1. Modular retroactive keyboard provided with keys making it possible to send back to the user a characteristic sensation of said key, characterized in that:
each key is an element of a self-contained flat parallelepiped module (1) comprising a motor, a position sensor and electrical connection means,
each module includes means for fixing it to the adjacent module,
the keys are connected to a central processing unit to give them the desired response by action on the motor and to process the signals from the sensor.
une bobine mobile plate (20, 22, 24 ; 40) montée sur des glissières (31, 32) lui permettant de coulisser dans son plan dans une direction déterminée,
des moyens (41, 42) d'alimentation en courant de la bobine,
de chaque côté de cette bobine et sensiblement parallèlement à celle-ci un moyen plat d'application d'un champ magnétique dans une direction orthogonale au plan de la bobine, ce champ étant dans un premier sens dans une première moitié de la surface occupée par la bobine au repos et du sens opposé dans la deuxième moitié, et
des moyens d'espacement (71-75) pour maintenir un écart constant entre les moyens d'application de champ magnétique,
caractérisé en ce que :
un seul moyen d'application de champ magnétique est présent entre deux bobines ; et
des moyens de fermeture encadrent les moyens d'application de champ magnétique extrêmes.3. Assembly of flat linear actuator modules, in which each module comprises:
a flat moving coil (20, 22, 24; 40) mounted on slides (31, 32) allowing it to slide in its plane in a determined direction,
means (41, 42) for supplying current to the coil,
on each side of this coil and substantially parallel to it a flat means for applying a magnetic field in a direction orthogonal to the plane of the coil, this field being in a first direction in a first half of the surface occupied by the coil at rest and in the opposite direction in the second half, and
spacing means (71-75) for maintaining a constant distance between the means for applying the magnetic field,
characterized in that:
only one magnetic field application means is present between two coils; and
closing means frame the means for applying extreme magnetic fields.
un détecteur de position associé à chaque bobine ;
un processeur central ; et
des interfaces pour commander les moyens d'alimentation de chaque bobine en réponse aux signaux des détecteurs traités par le processeur.6. Assembly of modules according to claim 3, characterized in that it comprises:
a position detector associated with each coil;
a central processor; and
interfaces for controlling the supply means of each coil in response to the signals from the detectors processed by the processor.
- un moyen d'application de champ magnétique (43, 44),
- des tiges de guidage (32, 33) d'une bobine mobile plate adjacente, et
- un détecteur de position (60) de ladite bobine.7. Assembly of modules according to claim 6, characterized in that it comprises identical support chassis provided with spacing means with respect to the neighboring chassis, each chassis (50) comprising fixing means for carrying:
- a magnetic field application means (43, 44),
- guide rods (32, 33) of an adjacent flat voice coil, and
- a position detector (60) of said coil.
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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FR8814064 | 1988-10-13 | ||
FR888814064A FR2638010B1 (en) | 1988-10-13 | 1988-10-13 | MODULAR RETROACTIVE KEYBOARD AND FLAT MODULAR ACTUATOR |
Publications (2)
Publication Number | Publication Date |
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EP0365441A1 true EP0365441A1 (en) | 1990-04-25 |
EP0365441B1 EP0365441B1 (en) | 1993-07-28 |
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Application Number | Title | Priority Date | Filing Date |
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EP89420385A Expired - Lifetime EP0365441B1 (en) | 1988-10-13 | 1989-10-10 | Retroactive modular keyboard and flat modular activator |
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US (1) | US5107262A (en) |
EP (1) | EP0365441B1 (en) |
JP (1) | JP2730216B2 (en) |
DE (1) | DE68907853T2 (en) |
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FR (1) | FR2638010B1 (en) |
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- 1989-10-10 ES ES89420385T patent/ES2044194T3/en not_active Expired - Lifetime
- 1989-10-10 DE DE89420385T patent/DE68907853T2/en not_active Expired - Fee Related
- 1989-10-12 US US07/420,242 patent/US5107262A/en not_active Expired - Lifetime
- 1989-10-13 JP JP1265299A patent/JP2730216B2/en not_active Expired - Fee Related
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GB390213A (en) * | 1931-10-03 | 1933-04-03 | J W Walker & Sons Ltd | Improvements in and connected with keys and keyboards or manuals of musical instruments |
US3938642A (en) * | 1974-05-17 | 1976-02-17 | Jaap Van Rumpt | Magnetic key touch control |
DE3436229A1 (en) * | 1984-10-03 | 1985-07-11 | Jacques Bono | Dismountable keyboard for electronic piano-like musical instruments |
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FR2867539A1 (en) | 2004-03-10 | 2005-09-16 | Inst Nat Polytech Grenoble | Kinematic transformer for transforming movements of movable parts of linear actuator, is isostatic and has arms that are unengaged along three degrees of freedom of rotation with respect to center of knuckles |
Also Published As
Publication number | Publication date |
---|---|
JP2730216B2 (en) | 1998-03-25 |
JPH02222995A (en) | 1990-09-05 |
FR2638010B1 (en) | 1991-01-18 |
DE68907853T2 (en) | 1994-03-17 |
US5107262A (en) | 1992-04-21 |
EP0365441B1 (en) | 1993-07-28 |
FR2638010A1 (en) | 1990-04-20 |
ES2044194T3 (en) | 1994-01-01 |
DE68907853D1 (en) | 1993-09-02 |
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