JP2009128769A - Operator unit of electronic keyboard musical instrument - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide good operation feeling of an operator similar to that of a natural keyboard musical instrument by appropriately performing both of force feeling control and operation control (adjustment of tilting) of the operator. <P>SOLUTION: The operator unit 1 of the electronic keyboard musical instrument includes: a long key 10 where the front and rear parts (first and second positions) 10a and 10b along a longitudinal direction are supported to independently move up and down; first and second solenoids (driving means) 21 and 22 for setting an optional position in the longitudinal direction of the key 10 as a support point and swinging the key 10 around the support point; first and second sensors (operation detection means) 31 and 32 for detecting the operation of the key 10; and a control unit (force sense control means) 40 for controlling a reaction force generated in the key 10 and an operation including tilting of the key 10 by controlling the first and second solenoids 21 and 22 based on the operation of the key 10 detected by the first and second sensors 31 and 32. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to an operator unit having an operator such as a key or a pedal included in an electronic keyboard instrument, and more particularly to an operator unit capable of bringing the operating feeling of the operator closer to a natural keyboard instrument such as an acoustic piano.

  The keyboard unit of a natural keyboard instrument that produces live sound, such as an acoustic piano, is configured so that a hammer that rotates when a key is pressed strikes a string and has a jack or wippen between the key and the hammer. An action mechanism is provided. With this action mechanism, a unique reaction force is applied to the performer's finger from the key. With a natural keyboard instrument, a key touch feeling peculiar to each instrument can be obtained.

  On the other hand, a keyboard unit of an electronic keyboard instrument that generates an electronic sound, such as an electronic piano, includes a mechanism such as a spring or a mass body (pseudo hammer) for returning a key to an initial position when a key is pressed. Then, the touch force of the natural keyboard instrument as described above is simulated by the reaction force of these springs and mass bodies. However, the key touch feeling of the electronic keyboard instrument is strictly different from the key touch feeling of the natural keyboard instrument mainly due to the following factors.

  First, an electronic keyboard instrument is a device that generates an electronic sound by pressing a key, and does not have a mechanism for actually striking a string like a natural keyboard instrument, so it is as complex as a natural keyboard instrument. There is no simple action mechanism. Therefore, the spring or mass body mechanism corresponding to the action mechanism is relatively simple. Therefore, the key touch feeling generated based on various elements in the action mechanism of a natural keyboard instrument cannot be faithfully reproduced with only the spring and the mass body.

  Secondly, the electronic keyboard instrument is advantageous in that it can be downsized compared to the natural keyboard instrument. However, if the depth of the keyboard unit is reduced by downsizing, the distance from the tip of the key to the fulcrum (swinging fulcrum). Becomes shorter. For this reason, if the stroke at the tip of the key (the amount of vertical movement) is maintained, the amount of forward tilt of the key during key depression increases compared to a natural keyboard instrument, and the operation of the key becomes steep. As a result, a sense of incongruity occurs in the key operation and touch feeling of the electronic keyboard instrument.

In view of this, several keyboard units have been proposed for the purpose of obtaining a key movement or key touch feeling similar to that of a natural keyboard instrument in an electronic keyboard instrument. For example, a keyboard unit described in Patent Document 1 includes a key driving device having a solenoid for driving a key, and a control device (force sense control means) for controlling the key driving device. The feeling is arbitrarily adjusted to make it closer to a natural keyboard instrument.
Japanese Patent No. 3772491

The keyboard unit described in Patent Document 2 includes a damper using an electrorheological fluid whose viscosity can be adjusted by an applied voltage (hereinafter referred to as “ER [Electro-Rheological] fluid”) as a key driving device. Yes. According to this keyboard unit, the key touch feeling can be arbitrarily adjusted by adjusting the viscosity of the ER fluid to change the resistance of the damper during key depression. In addition, the keyboard unit described in Patent Document 3 includes a mechanism that adjusts a reaction force against a key press by a combination of a magnetic attractive force and a mechanical frictional force as a key driving device.
Japanese Unexamined Patent Publication No. 7-13557 Japanese Patent No. 3666129

On the other hand, the keyboard unit described in Patent Document 4 includes a mechanism that can change the position of the rocking fulcrum of the key by making the arrangement configuration such as the intersection angle of the arms that rock the key variable. According to this keyboard unit, the rocking fulcrum of the key is arranged further back than the rear end of the actual key, so that the forward tilt of the key when pressing the key is moderated, and the operation of the key can be performed by a grand piano or the like. It is possible to get closer to a natural keyboard instrument.
Japanese Patent Laid-Open No. 4-66995

  In the keyboard units described in Patent Literature 1 to Patent Literature 3, the key touch feeling can be arbitrarily adjusted by force control, and therefore the first problem can be dealt with. However, since the fulcrum position of the key is fixed, the degree of inclination of the key when the key is pressed cannot be adjusted, and the second problem cannot be solved. On the other hand, in the keyboard unit described in Patent Document 4, the second problem can be solved because the degree of tilt of the key at the time of key depression can be adjusted. However, since there is no means for performing force control of the key, The first problem cannot be addressed. Therefore, using any of the conventional techniques listed here, it is possible to obtain a key operation feeling close to that of a natural keyboard instrument by adjusting the key inclination while pressing the key while performing key force control. I couldn't.

  The present invention has been made in view of the above-described points, and an object of the present invention is to provide a natural keyboard instrument by appropriately performing both haptic control of the operating element and operation control (adjustment of inclination) of the operating element. An object of the present invention is to provide an operation unit unit for an electronic keyboard instrument that can obtain a good operation feeling of a nearby operation unit.

  In order to solve the above-described problems, an operating unit unit of an electronic keyboard instrument according to the present invention is a long operating unit in which a first position and a second position along the longitudinal direction are supported so as to be vertically movable independently. Driving means that drives the first position and the second position in conjunction with each other to set an arbitrary position along the longitudinal direction of the operation element as a fulcrum and swing the operation element around the fulcrum. And a force detecting means for detecting the operation of the operating element, and a force for controlling the reaction force generated in the operating element and the operation of the operating element by controlling the driving means based on the operation of the operating element detected by the operation detecting means. Haptic control means.

  In the operation unit unit of the electronic keyboard instrument, the first position and the second position of the operation element are supported so as to be independently vertically movable, and then the first position and the second position of the operation element are supported. And a force sense control means for controlling the drive means based on the operation of the operation element detected by the motion detection means. Thereby, the rocking fulcrum of the operating element can be set at an arbitrary position in the longitudinal direction, and the inclination (sinking) of the operating element can be controlled. In addition, the reaction force of the operating element can be adjusted by performing force sense control of the reaction force with the force sense control means. An operator unit that can obtain a feeling of operation of an operator close to a natural keyboard instrument such as an acoustic piano by controlling the force of reaction force generated on the operator while controlling the inclination of the operator in this way Become.

  Further, when the operation element is a key, in the keyboard unit of an electronic keyboard instrument having a small depth dimension, the key swinging fulcrum can be set behind the actual key rear end by the driving means. The tilt of the key can be relaxed. This makes it possible to bring the key movement closer to a natural keyboard instrument such as a grand piano. It is also possible to arbitrarily adjust the tilt of the key when the key is pressed according to the player's preference. The operation element according to the present invention includes a pedal and the like in addition to the key. Therefore, the present invention can be applied not only to a keyboard unit of an electronic keyboard instrument but also to a pedal unit.

  Note that the driving means provided in the operating unit of the present invention includes not only a mechanism that generates a so-called active braking force, such as a solenoid or a motor that moves the operating device by itself, but also an operating device. A mechanism that generates a so-called passive braking force, such as a damper or a friction member that does not move but passively generates a reaction force against the operation of the operating element, is also included. In addition, the driving described here includes both a main operation by the mechanism that generates the active braking force and a passive operation by the mechanism that generates the passive braking force. Therefore, the operation element driving means can be configured using a solenoid, a mechanism that changes the driving force by changing the viscosity of the electrorheological fluid, a servo motor, a mechanism that changes the driving force by restoring the shape of the shape memory alloy, and the like. it can.

  In the operation unit of the present invention, in addition to the above-described configuration, the force control means includes a force sense application table that stores a plurality of patterns of the operation of the operation and the reaction force generated in the operation, and detects the operation. Based on the operation of the operation element detected by the means, the reaction force generated in the operation element is selected by selecting one pattern from a plurality of patterns stored in the force sense imparting table and outputting the selected pattern to the drive means. In addition, the operation of the operator may be controlled.

  According to this configuration, it is possible to simulate the movements and reaction forces of various natural keyboard instruments, including grand pianos, upright pianos, and organs, and faithfully reproduce the operational sensations of various natural keyboard instruments. Can be reproduced.

  In the operation unit of the present invention, in addition to the above-described configuration, the force sense control means operates at either one of the first position and the second position operated against the reaction force by the drive means. The inclination of the operator may be controlled by controlling the driving means for driving either the first position or the second position based on the above.

  According to this configuration, it becomes possible to easily control the operation (tilt) of the operation element in conjunction with the adjustment of the reaction force generated in the operation element, and the operation feeling of the operation elements of various natural keyboard instruments is more faithful. Can be reproduced.

  According to the operation unit according to the present invention, an operation feeling close to that of a natural keyboard instrument can be obtained satisfactorily in the operation of the operation elements such as keys and pedals of the electronic keyboard instrument.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[First Embodiment]
FIG. 1 is a schematic diagram showing the configuration of a key 10 and its operation mechanism provided in the keyboard unit 1 according to the first embodiment of the present invention. In the following description, among the two sides of the key 10 in the longitudinal direction, the player's side operating the key 10 is referred to as the front or the front, and the opposite side is referred to as the back or the rear. The rear end of the key 10 is guided by a key guide portion 11, and is supported so as to be movable with respect to a fixed portion such as a frame (not shown). The keyboard unit 1 has, as drive means for driving the key 10, a first solenoid (first drive part) 21 installed on the lower surface side of the front part (first position) 10 a of the key 10, and a rear part ( A second solenoid (second drive unit) 22 provided on the lower surface side of the second position 10b. The first solenoid 21 drives the front part 10a of the key 10 up and down, and the second solenoid 22 drives the rear part 10b of the key 10 up and down. The first and second solenoids 21 and 22 are mechanisms that generate a so-called active braking force that can move the key 10 independently by operating by itself. These first and second solenoids 21 and 22 are driven in an interlocked manner with the front part 10a and the rear part 10b of the key 10 under the control of the control part 40, which will be described later. Can be set as a fulcrum, and the key 10 can be swung around the fulcrum.

  Here, the front portion 10a, which is the first position along the longitudinal direction of the key 10, is the position near the key pressing operation portion immediately after the front end of the key 10, and the rear portion 10b, which is the second position, is near the key guide portion 11. The first position and the second position along the longitudinal direction of the key are two positions arranged along the longitudinal direction of the key. The position is not limited to the position shown in the embodiment. Therefore, for example, both or one of the front part 10a and the rear part 10b may be in other positions such as being closer to the middle part of the key 10 in the longitudinal direction.

  2A and 2B are diagrams illustrating a configuration example of the key guide unit 11, where FIG. 2A is a schematic side sectional view of the key 10, and FIG. 2B is a schematic plan view of the key 10. In FIG. 3 and the following FIG. 3, only the key 10 and the key guide portion 11 and the first and second solenoids 21 and 22 are shown, and the other portions are not shown. The key guide portion 11 includes a guide shaft 12 fixed with the axial direction vertical, and a guide hole 13 through which the guide shaft 12 is inserted at the rear end portion of the key 10. The guide hole 13 is movable up and down with respect to the guide shaft 12. Further, as shown in FIG. 2B, the front and rear and left and right outer peripheries of the guide shaft 12 are in contact with the inner perimeter of the guide hole 13. Thereby, the movement of the key 10 in the front-rear and left-right directions is restricted. Further, as shown in FIG. 5A, the central axis direction of the guide hole 13 is inclined in the front-rear direction with respect to the guide shaft 12 in a state where the longitudinal direction of the key 10 is horizontal, and the front of the guide hole 13 A gap is formed in the lower part and the rear upper part. Therefore, the key 10 can arbitrarily change the amount of tilt in the front-rear direction within the range of the gap. Although not shown, stoppers are provided above and below the front part 10a and the rear part 10b of the key 10 to restrict the vertical movement of the front part 10a and the rear part 10b at predetermined positions. As described above, the front part 10a and the rear part 10b in the longitudinal direction can be independently moved up and down in a state where the movement of the key 10 in the front-rear direction and the left-right direction is restricted.

  FIG. 3 is a diagram illustrating another configuration example of the key guide unit 11. The key guide portion 11-2 shown in FIG. 2A includes a guide hole 13-2 having a shape different from the guide hole 13 of the key guide portion 11 shown in FIG. The guide hole 13-2 has a narrow constricted contact portion 13a at an intermediate portion in the vertical direction, and the corresponding contact portion 13a is in contact with the outer periphery of the guide shaft 12. As a result, the key 10 is swingable in the vertical direction within the range of the gap formed above and below the contact portion 13a as a fulcrum in a state where movement in the front-rear and left-right directions is restricted. The front part 10a and the rear part 10b are movable up and down independently of each other.

  The key guide portion 11-3 shown in FIG. 3B includes a guide shaft 12-3 having a spherical support portion 12a for swingably supporting the key 10, and a guide hole 13 of the key 10 is provided. -3 is formed in a shape that accommodates the support portion 12a rotatably. As a result, the key 10 can swing up and down along the longitudinal direction with the support portion 12a as a fulcrum in a state where movement in the front-rear and left-right directions is restricted, and the front portion 10a and the rear portion 10b Are movable up and down independently of each other.

  The key guide portion 11-4 shown in FIG. 3C is composed of a guide hole 13-4 of the key 10 and a soft member 14 having a flexible peripheral portion, and the guide shaft 12-4 is a guide hole. 13-4 is inserted in close contact with the entire inner circumference. In this configuration example, the key 10 supported by the guide shaft 12-4 can move up and down independently of the front portion 10 a and the rear portion 10 b by deformation of the soft member 14. In this case as well, the movement of the key 10 in the front-rear and left-right directions is restricted by the soft member 14.

  4A and 4B are diagrams showing another configuration example of the key 10, in which FIG. 4A is a schematic side view of the key 10, and FIG. 4B is a cross-sectional view taken along a line AA in FIG. The key 10 shown in FIG. 2 omits the key guide portion 11 included in the key 10 shown in FIG. 2, and instead, the tips of the rods of the solenoids 21 and 22 are arranged in front of the key 10 via the rotation shafts 21a and 22a. A mechanism pivotally supported by each of the part 10a and the rear part 10b is provided. Even with such a mechanism, the key 10 is in a state in which the front part 10a and the rear part 10b can move up and down independently of each other in a state where movement in the front-rear and left-right directions is restricted.

  Returning to FIG. 1, the keyboard unit 1 includes a first sensor (first motion detection unit) 31 that detects the motion of the front portion 10 a of the key 10 as motion detection means that detects the motion of the key 10, and the key 10. And a second sensor (second motion detector) 32 for detecting the motion of the rear portion 10b. The first sensor 31 and the second sensor 32 are sensors that can detect the displacement, velocity, acceleration, angle, angular velocity of the key 10, or a plurality of these. As an example of such a sensor, although not shown in detail, there is an optical sensor constituted by a shutter attached to the key 10 and a photosensor whose optical path is shielded by the shutter. In this case, the shape of the shutter is set so that the light shielding amount continuously changes according to the change in the position of the key 10, and the position of the key 10 is uniquely specified from the output signal of the photosensor. . The first sensor 31 and the second sensor 32 are not limited to the optical type as long as they can detect the position of the key 10 and may be sensors based on other methods.

  The keyboard unit 1 also includes a control unit (force control means) 40 that controls the driving of the key 10 by the first and second solenoids 21 and 22. A control signal from the control unit 40 is input to the first solenoid 21 via the first solenoid control driver 41 and is input to the second solenoid 22 via the second solenoid control driver 42. Further, detection signals from the first sensor 31 and the second sensor 32 are input to the control unit 40 via the first sensor signal processing circuit 33 and the second sensor signal processing circuit 34, respectively.

  FIG. 5 is a block diagram illustrating an example of the overall configuration of an electronic keyboard instrument including the keyboard unit 1 and the control unit 40. The control unit 40 includes a CPU 89, a ROM 82, and a RAM 83. A timer 91 is connected to the CPU 89. The CPU 89 controls the entire electronic keyboard instrument including the keyboard unit 1. The ROM 82 stores a force sense table 90 (to be described later) in addition to the control program executed by the CPU 89 and various table data. The RAM 83 temporarily stores various input information such as performance data and text data, various flags, buffer data, and arithmetic processing results. The timer 91 measures various times such as an interrupt time in the timer interrupt process.

  In addition to the control unit 40, the electronic keyboard instrument is provided with a setting operation unit 81, a display device 84, an external storage device 85, an external interface 86, an audio output unit 87, and the like. These units, the control unit 40, and the keyboard unit 1 are connected to each other via a bus 88. An external device (not shown) is connected to the external interface 86. The setting operation unit 81 includes various switches (not shown), and a signal generated by the operation of the switches is supplied to the CPU 89. The external storage device 85 stores various application programs including the above control program, various music data, and the like.

  The force application table 90 stored in the ROM 82 stores a plurality of patterns of driving force (or reaction force) to be generated by the first and second solenoids 21 and 22, and includes a control pattern table 90a and an output table 90b. It has. The control pattern table 90a includes first and second solenoids 21 and 22 for signals indicating the operation of the key 10 from the first and second sensors 31 and 32 (any one or more of position, velocity, acceleration, angle, and angular velocity). This is a table for referring to the output value of. The output table 90b refers to a command value for causing the first and second solenoids 21 and 22 to generate the output value. The control pattern table 90a and the output table 90b are prepared separately for the first solenoid 21 and the second solenoid 22, respectively. In addition, the force imparting table 90 is provided separately for reproducing the key touch feeling and key movement of various keyboard instruments such as a grand piano, an upright piano, a pipe organ, and an electric tone, and these are stored in the ROM 82. Has been.

  Here, the control procedure of touch feeling and operation of the key 10 in the keyboard unit 1 having the above-described configuration will be described. FIG. 6 is a flowchart for explaining this control procedure. Below, the case where it controls so that the key touch feeling and key operation | movement close | similar to a grand piano are obtained is demonstrated to an example. First, a grand piano reaction force pattern is selected from a plurality of force sense tables 90 stored in the ROM 82 by designating a key touch feeling of the grand piano by operating a switch or the like in the setting operation unit 81 in advance. The Thereafter, the setting of the control unit 40 is initialized (step ST1-1). Then, it is determined whether or not the key 10 is in the initial position (step ST1-2). As a result, when the key 10 is operated and moved from the initial position (N), the first and second sensors 31 and 32 use the operation information (displacement (x)) of the front portion 10a and the rear portion 10b of the key 10. , Velocity (v), acceleration (a), angle (θ), angular velocity (ω) or a plurality thereof (step ST1-3). Detection signals from the first and second sensors 31 and 32 are input to the control unit 40 via the first sensor signal processing circuit 33 and the second sensor signal processing circuit 34, respectively.

  In accordance with the above input signal, the CPU 89 outputs F1 = f1 (x1, v1, a1, θ1, ω1) of the first solenoid 21 from the control pattern table 90a of the force sense application table 90 stored in the ROM 82, Reference is made to the output F2 = f2 (x2, v2, a2, θ2, ω2) of the second solenoid 22 (step ST1-4). Further, the command value D1 = f1 (F1) for generating the output F1 of the first solenoid 21 and the command value D2 = f2 (F2) for generating the output F2 of the second solenoid 22 are referred from the output table 90b. (Step ST1-5). Then, the command values D1 and D2 determined by reference are output to the first and second solenoid control drivers 41 and 42 (step ST1-6), and the first and second solenoids 21 and 22 are driven (step ST1-). 7). In this way, the first and second solenoids 21 and 22 are given to the key 10 a driving force for reproducing a key touch feeling and a key operation similar to a grand piano. Thereafter, it is determined again whether or not the key 10 is in the initial position (step ST1-8). If the key 10 is not in the initial position (N), the procedures after step ST1-3 are repeated. This procedure is repeated until the key 10 returns to the initial position. When the key 10 returns to the initial position (Y), the drive outputs of the first and second solenoids 21 and 22 are cleared (step 1-9), and the processing procedure ends.

  Next, another control procedure of touch feeling and operation of the key 10 in the keyboard unit 1 will be described. FIG. 7 is a flowchart for explaining this control procedure. Also in this case, a grand piano reaction force pattern is generated from a plurality of force sense imparting tables 90 stored in the ROM 82 by designating a key touch feeling of the grand piano in advance by operating a switch or the like in the setting operation unit 81. Selected. Thereafter, the setting of the control unit 40 is initialized (step ST2-1). Next, it is determined whether or not the key 10 is in the initial position (step ST2-2). As a result, when the key 10 has moved from the initial position (N), the first and second sensors 31 and 32 detect the operation information of the front part 10a and the rear part 10b of the key 10 (step ST2-3). ). Detection signals from the first and second sensors 31 and 32 are input to the control unit 40 via the first sensor signal processing circuit 33 and the second sensor signal processing circuit 34, respectively.

  In accordance with the operation information of the front portion 10a of the key 10 detected by the first sensor 31 among the above input signals, the CPU 89 determines the first from the control pattern table 90a of the haptic application table 90 stored in the ROM 82. Reference is made to the output F1 = f1 (x1, v1, a1, θ1, ω1) of one solenoid 21 (step ST2-4). Further, the command value D1 = f1 (F1) for generating the output F1 of the first solenoid 21 is referred from the output table 90b (step ST2-5). Then, the command value D1 determined by reference is output to the first solenoid control driver 41 (step ST2-6), and the first solenoid 21 is driven (step ST2-7). Thereafter, the CPU 89 moves the movement amount (x1) of the front portion 10a of the key 10 and the operation information (x2, v2, a2, θ2, ω2 of the rear portion 10b of the key 10 detected by the second sensor 31 or The output F2 = f2 (x1, x2, v2, a2, θ2, ω2) of the second solenoid 22 is referred to from the control pattern table 90a of the haptic application table 90 stored in the ROM 82 (multiple). Step ST2-8). Further, the command value D2 = f2 (F2) for generating the output F2 of the second solenoid 22 is referred from the output table 90b (step ST2-9). Then, the command value D2 determined by reference is output to the second solenoid control driver 42 (step ST2-10), and the second solenoid 22 is driven (step ST2-11). Thereby, the drive amount (movement amount) of the rear portion 10b of the key 10 can be controlled based on the operation amount (movement amount) from the initial position of the front portion 10a of the key 10. By the above, the ratio of the movement amount of the front part 10a and the rear part 10b of the key 10 is adjusted to be equal to the ratio of the movement amount of the front part and the rear part of the key in the grand piano. Therefore, it is possible to reproduce the inclination (sinking) equivalent to the key of the grand piano. Thereafter, it is determined again whether or not the key 10 is in the initial position (step ST2-12). If the key 10 is not in the initial position (N), the procedure after step ST2-3 is repeated. This procedure is repeated until the key 10 returns to the initial position. When the key 10 returns to the initial position (Y), the drive outputs of the first and second solenoids 21 and 22 are cleared (step 2-13), and the process ends.

  In any of the above control procedures, as a result of appropriately controlling both the driving force of the key 10 and the inclination of the key 10, a key touch feeling similar to that of a grand piano can be obtained satisfactorily. Furthermore, in the keyboard unit 1, in order to reproduce the key touch feeling of other keyboard instruments such as church organ, upright piano, pipe organ, and electone, the reaction force patterns of the respective keyboard instruments are stored in the haptic imparting table 90 in advance. By selecting the pattern from the force sense imparting table 90 in the same procedure as described above, a key touch feeling that approximates each keyboard instrument can be obtained. This also applies to the other embodiments described below.

  In the present embodiment, the first sensor 31 capable of detecting the operation amount of the front portion 10a of the key 10 operated against the reaction force of the first solenoid 21 is provided. In the control procedure shown in FIG. The case where the second solenoid 22 that drives the rear portion 10b of the key 10 is controlled based on the operation amount of the front portion 10a of the key 10 detected by the first sensor 31 has been described. In addition, if a sensor for detecting the driving amount of the front portion 10a of the key 10 by the first solenoid 21 is provided separately, based on the driving amount from the initial position of the front portion 10a of the key 10 detected by the sensor. It is also possible to control the second solenoid 22.

  In the control procedure shown in FIG. 7, the case where the second solenoid 22 that drives the rear portion 10b of the key 10 is controlled based on the operation amount of the front portion 10a of the key 10 has been described. It is also possible to control the first solenoid 21 that drives the front portion 10a of the key 10 based on the operation amount of the rear portion 10b of the key 10.

  As described above, according to the keyboard unit 1 of the present embodiment, the first solenoid 21 and the second solenoid 21 drive the front portion 10a and the rear portion 10b of the key 10 in conjunction with each other, thereby swinging the key 10. The position of the fulcrum can be set to an arbitrary position along the longitudinal direction, and the tilting condition (sinking condition) due to the swinging of the key 10 can be arbitrarily adjusted. At the same time, the reaction force can be arbitrarily adjusted by controlling the force of the reaction force generated in the key 10 by the control unit 40. As described above, since both the adjustment of the tilt of the key 10 and the force control of the reaction force can be appropriately performed, the operation feeling of the key 10 that approximates various natural keyboard instruments such as a grand piano is good. Can get to.

  Further, if the keyboard unit 1 of this embodiment is applied to an electronic keyboard instrument having a small depth dimension, the swing fulcrum of the key 10 can be set at a position behind the actual rear end of the key 10. Therefore, even when the overall length of the key 10 is shortened due to the downsizing of the keyboard unit 1, the key 10 can be gently tilted (forward tilted) when the key is depressed, and the operation and operation feeling of the key 10 can be made natural such as a grand piano. It is possible to get closer to a keyboard instrument. It is also possible to change the touch feeling of the key 10 by arbitrarily adjusting the inclination of the key 10 when the key is pressed according to the player's preference.

[Second Embodiment]
Next, a keyboard unit according to the second embodiment of the present invention will be described. In the description of the second embodiment and the corresponding drawings, the same or corresponding components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof will be omitted below. In addition, matters other than those described below are the same as those in the first embodiment. The same applies to other embodiments.

  FIG. 8 is a schematic diagram showing the configuration of the key 10 and its operation mechanism provided in the keyboard unit 1-2 according to the second embodiment of the present invention. The keyboard unit 1-2 shown in the figure includes a first ER damper 23 and a first compression spring 15 as drive means for driving the key 10 instead of the first solenoid 21 in the first embodiment. Instead, a second ER damper 24 and a second compression spring 16 are provided. The keyboard unit 1-2 includes first and second ER damper control drivers 43 and 44. The first and second ER damper control drivers 43 and 44 generate signals for changing the resistance forces of the first and second ER dampers 23 and 24, respectively, according to the signals input from the control unit 40, and the signals are output to the first and second ER damper control drivers 43 and 44, respectively. To the second ER dampers 23 and 24.

  Here, the ER damper is a damper in which an ER fluid (electroviscous fluid) is enclosed, and the damping force (resistance force) can be adjusted by changing the viscosity of the ER fluid. The ER damper does not move the key 10 by itself, but passively adjusts the resistance (reaction force) accompanying the movement of the key 10 by pressing the key, and a mechanism that generates a so-called passive braking force. It is. Therefore, in the keyboard unit 1-2, the first and second compression springs 15 and 16 that are compressed when the key is pressed to give the key 10 a return force to the initial position are respectively installed on the front portion 10a and the rear portion 10b of the key 10. The first and second compression springs 15 and 16 are provided with first and second ER dampers 23 and 24 for adjusting the return force.

[Third Embodiment]
FIG. 9 is a schematic diagram showing the configuration of the key 10 and its operation mechanism provided in the keyboard unit according to the third embodiment of the present invention. In the keyboard unit 1-3 shown in the figure, as a driving means for driving the key 10, a first ER clutch 25 is provided instead of the first ER damper 23 in the second embodiment, and a second ER clutch 26 is provided instead of the second ER damper 24. It has. The keyboard unit 1-3 includes first and second ER clutch control drivers 45 and 46. The first and second ER clutch control drivers 45 and 46 generate signals for changing the resistance forces of the first and second ER clutches 25 and 26 from the input signals, respectively. 26.

  Although the detailed illustration is omitted here, the ER clutch has a friction surface disposed so as to face between a member that moves with the key 10 and a member fixed thereto, and these friction surfaces. Is a mechanism for adjusting the resistance force (braking force) generated in the key 10 by changing the pressing force on the friction surface by changing the viscosity of the ER fluid. This ER clutch is also a mechanism that passively adjusts the resistance force against the movement of the key 10 due to the key depression, like the ER damper, and is a mechanism that generates a so-called passive braking force.

[Fourth Embodiment]
FIG. 10 is a schematic diagram showing the configuration of the key 10 and the operation mechanism thereof included in the keyboard unit according to the fourth embodiment of the present invention. In the keyboard unit 1-4 shown in the figure, as a driving means for driving the key 10, a first servo motor 27 is provided instead of the first solenoid 21 in the first embodiment, and a second servo is used instead of the second solenoid 22. A motor 28 is provided. In addition, first and second servo motor control drivers 47 and 48 for outputting signals for changing the driving force by the first and second servo motors 27 and 28 according to the signals input from the control unit 40 are provided. . Like the first solenoid 21 and the second solenoid 22, the first servo motor 27 or the second servo motor 28 is capable of moving the key 10 by itself, and has a so-called active braking force. This is the mechanism that occurs. The servo motor here includes a DC servo motor and an AC servo motor. The servo motor may be an ultrasonic motor or the like. The first and second servomotors 27 and 28 are provided with a mechanism for converting the rotational movement of the motor into a reciprocating movement in the vertical direction and transmitting it to the key 10.

[Fifth Embodiment]
FIG. 11 is a schematic diagram showing the configuration of the key 10 and its operation mechanism provided in the keyboard unit according to the fifth embodiment of the present invention. The keyboard unit 1-5 shown in the figure includes a first braking mechanism 29 having a shape memory alloy instead of the first ER damper 23 in the second embodiment as a driving means for driving the key 10, and the second ER damper 24 includes Instead, a second braking mechanism 30 having a shape memory alloy is provided. The first braking mechanism 29 includes a shape memory alloy 29a interposed between the key 10 and the frame (fixed portion) and a spring (tensile spring) 29b connected thereto, and the second braking mechanism 30 includes the key 10 and It consists of a shape memory alloy 30a interposed between the frame and a spring (tensile spring) 30b connected thereto. The keyboard unit 1-5 includes first and second braking mechanism control drivers 49 and 50. The first and second braking mechanism control drivers 49 and 50 generate currents that cause the shape memory alloys 29a and 30a of the first and second braking mechanisms 29 and 30 to contract according to the signal input from the control unit 40, The current is output to the first and second braking mechanisms 29 and 30.

  Here, the shape memory alloy is an alloy having a property that, when deformed at a predetermined temperature (transformation point) or lower, expands or contracts when it is heated to the temperature or higher, and recovers its original shape. In the first and second braking mechanisms 29 and 30, the reaction force applied to the key 10 by the first and second compression springs 15 and 16 is supplemented by the shape recovery of the first and second shape memory alloys 29a and 29b. It is supposed to adjust to. The shape memory alloy 30a of the second braking mechanism 30 is provided with an adjusting mechanism 30c that adjusts the length of the portion through which the current flows. By this adjustment mechanism 30c, the ratio of the deformation amounts of the shape memory alloys 29a and 29b of the first braking mechanism 29 and the second braking mechanism 30 can be set to a desired ratio. The first and second braking mechanisms 29 and 30 having the shape memory alloys 29a and 29b passively adjust the magnitude of the resistance force against the movement of the key 10 by the key depression, like the ER damper and the ER clutch. This is a mechanism for adjusting so-called passive braking force.

  In the first and second braking mechanisms 29 and 30, the shape memory alloys 29 a and 30 a contract due to heat generated by the currents input from the first and second braking mechanism control drivers 49 and 50, and the first and second compression springs 15. , 16 is adjusted, and a resistance force for reproducing a key touch feeling and a key operation similar to a grand piano is applied to the key 10. Further, at this time, the control unit 40 adjusts the length of the portion through which the current flows to the shape memory alloy 30a of the second braking mechanism 30 by the adjusting mechanism 30c, and the first shape memory alloy 29a and the second shape memory alloy 30a. The ratio of shrinkage can be set to a predetermined ratio. Thereby, the inclination of the key 10 can be adjusted and the inclination degree (sinking condition) of the key 10 of the grand piano can be reproduced.

[Sixth Embodiment]
FIG. 12 is a schematic diagram showing the configuration of the key 10 and the operation mechanism thereof included in the keyboard unit according to the sixth embodiment of the present invention. In the keyboard unit 1-6 shown in the figure, as a driving means for driving the key 10, it is driven by a single solenoid 55 and the solenoid 55 instead of the first and second solenoids 21 and 22 in the first embodiment. A drive unit 60 having two arms 61 and 62 is provided.

  A guide groove 17 made of a long hole extending in the front-rear direction is formed in the front portion 10 a of the key 10. A sliding bearing 63 that is slidably installed along the longitudinal direction is engaged with the guide groove 17. On the frame 64 below the guide groove 17, a roller 65 that slides on the frame 64 is installed. Although not shown, a sliding member that slides on the frame 64 may be installed instead of the roller 65. On the other hand, a rotary bearing 66 is installed in the rear portion 10b of the key 10. An inclination adjustment member 67 is installed on the frame 64 below the rotation bearing 66. The tilt adjusting member 67 is provided with an adjusting slot 67a formed of a long hole extending vertically, and a rotating bearing 68 is engaged with the adjusting slot 67a in a state in which the rotating bearing 68 can move up and down.

  An arm 61 extending obliquely extends between the rotation bearing 66 and the roller 65, and an arm extending obliquely in the opposite direction to the arm 61 between the sliding bearing 63 and the rotation bearing 68. 62 is stretched over. The arm 61 and the arm 62 intersect with each other in the middle. The rotary bearing 68 is engaged with an adjustment slot 62 b formed by a long hole along the longitudinal direction provided at the lower end of the arm 62. Further, an adjustment slot 61a and an adjustment slot 62a, which are elongated holes along the longitudinal direction provided in the arm 61 and the arm 62, are formed at the intersecting portions of the arm 61 and the arm 62, respectively. A rotating bearing 69 is attached to the portion. The solenoid 55 is installed between the roller 65 and the tilt adjusting member 67. When the roller 65 is moved back and forth by the solenoid 55, the crossing angle between the arm 61 and the arm 62 changes, and the key 10 is driven up and down.

  The rotation bearing 68 can change the height position with respect to the inclination adjustment member 67 along the adjustment slot 67a, and the rotation bearing 69 can change the position with respect to the arm 61 and the arm 62 along the adjustment slots 61a and 62a. . In addition, although illustration is abbreviate | omitted, the moving mechanism which has a motor etc. for moving the rotation bearing 68 and the rotation bearing 69 is provided. This moving mechanism is controlled by the control unit 40.

  Here, the operation of the key 10 when the height position of the rotary bearing 68 is changed will be described. When the rotary bearing 68 is at the lowest position of the adjustment slot 67a, the rotary bearing 68 and the roller 65 have the same height, and the rotary bearing 66 and the slide bearing 63 have the same height. Moves up and down in a horizontal state. On the other hand, if the rotary bearing 68 is moved slightly upward from the lowest position, the rotary bearing 66 becomes slightly higher than the slide bearing 63, so that the rotary bearing 68 is positioned rearward from the rear end of the key 10. An oscillating fulcrum is formed, and the key 10 oscillates with a gentle inclination (forward inclination) about the oscillating fulcrum. When the rotary bearing 68 is further moved upward from that state, the swing fulcrum moves to the near side so as to approach the rear end portion of the key 10. Therefore, as the position of the rotary bearing 68 rises in the adjustment slot 67a, the inclination (forward inclination) of the key 10 at the time of key depression becomes steeper gradually.

  The operation of the key 10 and the reaction force control procedure in the keyboard unit 1-6 configured as described above will be described. First, the control unit 40 adjusts the height position of the rotary bearing 68 in the adjustment slot 67a in advance so that the inclination of the key 10 when the key is depressed becomes equal to the inclination of the key 10 in the grand piano. Set to. In this state, when the key 10 starts moving by pressing the key, the first and second sensors 31 and 32 detect the operations of the front portion 10a and the rear portion 10b of the key 10. Detection signals from the first sensor 31 and the second sensor 32 are input to the control unit 40 via the first sensor signal processing circuit 33 and the second sensor signal processing circuit 34, respectively. Based on this input signal, the control unit 40 outputs a signal related to the reaction force pattern of the grand piano stored in the force sense application table 90 to the solenoid control driver 54. The solenoid control driver 54 generates a signal for changing the driving force by the driving unit 60 from the input signal and outputs the signal to the solenoid 55. In this way, the driving force is applied to the key 10 for reproducing the key touch feeling similar to the grand piano touch from the driving unit 60.

[Seventh Embodiment]
FIG. 13 is a schematic diagram showing the configuration of the key 10 and its operation mechanism provided in the keyboard unit according to the seventh embodiment of the present invention. The keyboard unit 1-7 shown in the figure includes a drive unit 70 having a configuration similar to that of the drive unit 60 of the sixth embodiment as drive means for driving the key 10.

  The key 10 is provided with two rotary bearings 73 and 74 arranged respectively in the front part 10a and the rear part 10b in the vicinity of the middle part in the longitudinal direction. Arms 71 and 72 are connected to the rotary bearings 73 and 74, respectively. The arm 71 extends obliquely downward from the rotation bearing 73 toward the front, and the arm 72 extends obliquely downward from the rotation bearing 74 toward the rear. A roller 75 and a rotary bearing 76 are connected to the lower ends of the arms 71 and 72, respectively. The roller 75 rolls back and forth on the frame 64 as the arm 71 moves. The rotation bearing 76 is engaged in the adjustment slot 67a of the inclination adjustment member 67 in a state where the vertical position can be changed. Further, gears or friction members that are engaged with each other are attached around the rotary bearings 73 and 74. Thus, when one of the arms 71 and 72 rotates in one direction, the other rotates at an angle equal to the opposite direction.

  A solenoid 55 is installed between the arm 71 and the arm 72. By moving the arms 71 and 72 by driving by the solenoid 55, the crossing angle between them can be changed. As a result, the key 10 is driven up and down. Further, by adjusting the height position of the rotary bearing 76 in the adjustment slot 67a, the positions of the lower ends of the arms 71 and 72 can be made different from each other. Thereby, the inclination degree of the rocking | locking key 10 can be changed arbitrarily.

  Also in the keyboard unit 1-7 of the present embodiment, as in the sixth embodiment, when the rotary bearing 76 is at the lowest position in the adjustment slot 67a, the longitudinal direction of the key 10 remains horizontal. Move up and down. On the other hand, when the rotary bearing 76 is moved slightly upward from the lowest position, a rocking fulcrum of the key 10 is formed at a position away from the rear end portion of the key 10, and the rocking fulcrum is centered on the rocking fulcrum. The key 10 swings with a gentle inclination. When the rotary bearing 76 is moved further upward from that state, the swing fulcrum moves toward the key 10. Therefore, as the position of the rotary bearing 76 rises in the adjustment slot 67a, the inclination (forward inclination) of the key 10 at the time of key depression becomes steep. Note that the control procedure of the operation and reaction force of the key 10 in the keyboard unit 1-7 is almost the same as the control procedure in the keyboard unit 1-6 of the sixth embodiment, and the detailed description thereof is omitted here.

  Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and various modifications can be made within the scope of the technical idea described in the claims and the specification and drawings. Is possible. It should be noted that any shape, structure, or material not directly described in the specification and drawings is within the scope of the technical idea of the present invention as long as the effects and advantages of the present invention are exhibited.

  In each of the embodiments described above, the case where the operation element is the key 10 has been described. However, the operation element according to the present invention includes a pedal and the like in addition to the key 10 described above. Therefore, the present invention can be applied to a pedal unit of an electronic keyboard instrument in addition to the keyboard unit 1 shown in the above embodiment.

  In the keyboard units 1 to 1-7 of the above embodiments, the two sensors 31 and 32 for detecting the operations of the front portion 10a and the rear portion 10b of the key 10 are provided as operation detecting means for detecting the operation of the key 10, respectively. The operation detecting means for detecting the operation of the operation element according to the present invention is configured by a single sensor as long as it can appropriately detect the operation including the inclination of the operation element in the front-rear direction. It is also possible, and the installation position can be any position.

It is the schematic which shows the structural example of the keyboard unit concerning 1st Embodiment of this invention. It is a figure which shows the structural example of the key guide part with which a keyboard unit is provided. It is a figure which shows the other structural example of a key guide part. It is a figure which shows the other structural example of a key. It is a block diagram which shows the example of whole structure of the electronic keyboard musical instrument containing a keyboard unit. It is a flowchart which shows the control procedure of a key touch feeling and operation | movement. It is a flowchart which shows the touch feeling of a key, and another control procedure of operation | movement. It is the schematic which shows the structural example of the keyboard unit concerning 2nd Embodiment of this invention. It is the schematic which shows the structural example of the keyboard unit concerning 3rd Embodiment of this invention. It is the schematic which shows the structural example of the keyboard unit concerning 4th Embodiment of this invention. It is the schematic which shows the structural example of the keyboard unit concerning 5th Embodiment of this invention. It is the schematic which shows the structural example of the keyboard unit concerning 6th Embodiment of this invention. It is the schematic which shows the structural example of the keyboard unit concerning 7th Embodiment of this invention.

Explanation of symbols

1 Keyboard unit (control unit)
10 keys (operators)
10a front (first position)
10b Rear (second position)
11 Key guide portions 15 and 16 First and second compression springs 21 and 22 First and second solenoids (drive means)
23, 24 First and second ER dampers (drive means)
25, 26 First and second ER clutches (drive means)
27, 28 First and second servo motors (drive means)
29, 30 First and second braking mechanisms (drive means)
29a, 30a First and second shape memory alloys 31, 32 First and second sensors (motion detecting means)
33, 34 First and second sensor signal processing circuit 40 Control unit (force control means)
41, 42 First, second solenoid control drivers 43, 44 First, second damper control drivers 45, 46 First, second clutch control drivers 47, 48 First, second servo motor control drivers 49, 50 First , Second braking mechanism control driver 54 solenoid control driver 55 solenoid 60 driving unit (driving means)
61, 62 Arm 70 Drive part (drive means)
71, 72 Arm 82 ROM
89 CPU
90 Force sense application table 90a Control pattern table 90b Output table

Claims (5)

A long operator that is supported so that the first position and the second position along the longitudinal direction can move up and down independently;
By driving the first position and the second position in conjunction with each other, an arbitrary position along the longitudinal direction of the operation element is set as a fulcrum, and the operation element is swung around the fulcrum. Driving means;
Action detecting means for detecting the action of the manipulator;
Force control means for controlling the reaction force generated in the operating element and the operation of the operating element by controlling the driving means based on the operation of the operating element detected by the operation detecting means;
A controller unit for an electronic keyboard instrument, comprising:   The drive means includes a first drive unit that drives the first position of the operation element, and a second drive unit that drives the second position of the operation element. An operator unit for an electronic keyboard instrument according to claim 1.   The driving means is configured using at least one of a solenoid, a mechanism that changes the driving force by changing the viscosity of the electrorheological fluid, a servo motor, and a mechanism that changes the driving force by restoring the shape of the shape memory alloy. The operation unit according to claim 1, wherein the operation unit is provided.   The force sense control means includes a force sense imparting table that stores a plurality of patterns of reaction of the operation element and reaction force generated in the operation element, and based on the operation of the operation element detected by the action detection means, By selecting one pattern from the plurality of patterns stored in the force sense imparting table and outputting the selected pattern to the driving means, the reaction force generated in the operation element and the operation of the operation element are controlled. The operation element unit according to any one of claims 1 to 3, wherein:   The force sense control means is configured to control the first position or the second position based on an operation amount of either the first position or the second position operated against a reaction force by the driving means. 5. The operating element unit according to claim 4, wherein an inclination degree of the operating element is controlled by controlling the driving means for driving one of the other positions.

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