JP2010066371A - Performance operator device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a performance operator device capable of achieving control of repulsive force in a direction opposite to a depression operation with simple drive control. <P>SOLUTION: A key 1 rotates centering on a supporting point 1a. A solenoid 3 generates a repulsive force for rotating the key 1 in a direction opposite to a depression and transmits the repulsive force to the key 1. A spring 4 generates a pressing force for rotating the key 1 in a depression direction. 7 indicates a sensor and a stator 7a of the sensor detects a displacement of a movable element 7b for the sensor. As shown, the performance operator device can achieve both automatic performance and force sensing control by controlling a resultant force of the one-way repulsive force of the solenoid 3 added in the direction opposite to the depression and the pressing force of the spring 4 added in the depression direction. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention provides a performance operation in which force control and automatic performance can be selectively executed by the same device by applying a reaction force in the opposite direction to the pressing operation to performance operators such as keys and pedals of a keyboard instrument. It relates to a child device.

In keyboard instruments, by adding a key drive mechanism, the player can control the feeling of touch (force) that the player feels during performance, or automatically operate keys (automatic performance) without the player's operation. Has been done.
The following prior art is known as an apparatus for realizing both the above-described force control and automatic performance in one keyboard electronic musical instrument.

For example, in Patent Document 1, a solenoid in which a key forward solenoid coil and a yoke and a key return solenoid coil and a yoke are arranged in series, and the center of these solenoid coils is used as a passage of one plunger is used. .
The plunger is in a stationary position in a balanced state by springs biased in opposite directions.
By selectively switching the solenoid coil that supplies the driving current, a reaction force for force sense control or a driving force for automatic performance is given to the key.
However, since it is necessary to provide two yokes and two solenoid coils, there is a problem that the weight of the apparatus is increased and the size is increased. Moreover, since there are two solenoid coils, there is a problem that two drive circuits are required.

Moreover, in patent document 2, the solenoid which has an edge in the upper surface and lower surface of a yoke is used with respect to the plunger channel | path of a coil center.
In contrast to the positional relationship where the bottom surface of the plunger enters the coil and the top surface of the plunger protrudes from the edge of the top surface of the yoke, the top surface of the plunger enters the coil, and the bottom surface of the plunger protrudes from the edge of the bottom surface of the yoke There is a positional relationship. By using a cam, the position of the yoke is moved up and down to change the positional relationship between the plunger and the coil, thereby making the drive direction bidirectional.
However, since a mechanism for driving the cam is required, there is a problem that not only the height of the apparatus is increased, but also the apparatus is complicated.
Japanese Patent Laid-Open No. 10-20857 Japanese Patent Laid-Open No. 10-161652

  It is an object of the present invention to provide a performance operator device capable of realizing reaction force control in the direction opposite to the pressing operation by simple drive control.

In the invention according to the first aspect, the present invention provides the performance operator device according to claim 1, wherein the performance operator is provided corresponding to the performance operator, and the biasing means for generating a biasing force for rotating the performance operator in the pressing direction is provided. And a drive control means drives and controls the drive means so that a resultant force of the reaction force by the drive means and the urging force by the urging means with respect to the performance operator is in either the pressing direction or the counter-pressing direction. Is.
Therefore, force control can be easily performed by setting the direction of the resultant force with respect to the performance operator to the counter-pressing direction, and automatic performance can be easily performed by setting the direction of the resultant force to the pressing direction.

According to a second aspect of the present invention, in the performance operator device according to the first aspect, mode selection means for selecting one of a force sense control mode and an automatic performance mode, and an operation state of the performance operator are detected. An operation state detection unit; and a performance data supply unit configured to supply performance data, and the drive control unit is configured to perform the operation according to the operation state of the performance operator when the haptic control mode is selected. The driving means is driven and controlled so that the resultant force is a reaction force against the operation of the performance operator by the performer, and when the automatic performance mode is selected, the resultant force is determined according to performance data. The driving means is driven and controlled so as to have a driving force for pressing the performance operator.
Therefore, the force sense control mode and the automatic performance mode can be selected. In the force sense control mode, a touch feeling is created according to the operating state of the performance operator operated by the performer. The performance operator is automatically operated in response to this.

According to a third aspect of the present invention, in the performance operator device according to the first or second aspect, the drive control means drives and controls the drive means by supplying current to the drive means. And the driving means has a stator and a mover, and the stator has a magnetic value with an initial value larger than the urging force of the urging means when the current is not supplied to the mover. A magnetic reaction force is applied in the counter-pressing direction and a current is supplied to generate a magnetic flux in a direction that cancels a magnetic flux distribution that generates an initial value of the magnetic reaction force, which is supplied from the drive control means. As the current increases, a magnetic reaction force having a characteristic of increasing again after decreasing from the initial value of the magnetic reaction force is applied to the mover in the counter-pressing direction. Magnetism given by By transmitting the reaction force to the performance operator, in which the resultant force is to be made in any of the pressing direction and the counter-pressing direction.
Therefore, the direction of the resultant force with respect to the performance operator can be controlled by simple drive control of increasing or decreasing the current value supplied to the drive means.

According to a fourth aspect of the present invention, in the performance operator device according to the third aspect, the drive means is a solenoid, and the stator includes a coil, a yoke, and a permanent magnet of the solenoid, The mover has a plunger of the solenoid, and the permanent magnet generates a magnetic flux distribution in a direction that is canceled by a magnetic flux generated by a current supplied to the solenoid coil, thereby causing the magnetic force to the plunger. An initial value of the reaction force is given in the counter-pressing direction.
Therefore, the driving means can be realized with a simple configuration. Further, since no power is consumed when no current is supplied to the solenoid coil, the average power consumption of the performance operator device is reduced.

The invention of the present application has an effect that control of the reaction force in the direction opposite to the pressing operation can be realized by simple drive control. By controlling this reaction force, automatic performance and force sense control can be selectively executed.
Since the drive means only needs to generate a reaction force that rotates the performance operator in one direction (counter-pressing direction), the apparatus is not complicated, increased in weight, or increased in size. That is, as in the prior art, a mechanism for generating a driving force in both directions by providing two yokes and coils or a cam mechanism becomes unnecessary.

FIG. 1 is an explanatory diagram of an embodiment of the present invention. In this embodiment, the present invention is applied to a plurality of keys 1 arranged on a keyboard of an electronic keyboard instrument. Since the white key and the black key have the same basic structure, only one white key will be described.
The fulcrum portion 1a of the key 1 is supported by the key support portion 2a of the key frame 2, and a predetermined stroke range regulated by the upper limit stopper 5 and the lower limit stopper 6 is set around the fulcrum portion 1a in the pressing direction and the reverse direction. It is displaced by turning in the pressing direction.
In the illustrated example, the upper limit stopper 5 is attached to the rear part of the key frame 2, and the lower limit stopper 6 is attached to the key frame 2 at the front part that is one step lower than the step part 2b.

  Reference numeral 3 denotes a solenoid (driving means) which is individually provided corresponding to each of the plurality of keys 1, and is a driving force for rotating the key 1 in the counter-pressing direction (counter-pressing direction). The reaction force is generated by paying attention to the counter-pressing direction, and the reaction force is transmitted to the key 1. In the illustrated example, the plunger head 14c (see FIG. 3) of the solenoid 3 abuts on the key upper surface portion 1b at a position behind the fulcrum portion 1a in the key longitudinal direction, and gives a reaction force to the key 1. The configuration of the solenoid 3 will be described later with reference to FIG.

On the other hand, 4 is a spring (biasing means) provided corresponding to each of the plurality of keys 1, and generates a biasing force for rotating the key 1 in the pressing direction.
In the illustrated example, the spring 4 is a compression coil spring provided between the key 1 and the key frame 2, and is attached to the key 1 at a position behind the fulcrum portion 1a in the key longitudinal direction. The pressing force in the pressing direction is applied from the opposite direction to the plunger head 14c.
In the stationary (key-released) state, the rear end 1 c of the key 1 comes into contact with the upper limit stopper 5.

Reference numeral 7 denotes a sensor (operation state detection means), and a stator 7 a of the sensor is fixed to the key frame 2. The sensor mover 7b is attached to the key 1 so as to face the sensor stator 7a, and is displaced in conjunction with the pressing operation of the key 1. The sensor stator 7a detects, for example, the rotational position of the sensor mover 7b.
In the illustrated example, the sensor stator 7 a is disposed between the front of the stepped portion 2 b of the key frame 2 and the lower limit stopper 6, but is not limited to this position. For example, the sensor mover 7b may be provided on the plunger 14 of the solenoid 3, and the sensor stator 7a may be disposed at a corresponding position.
When the performer performs, it is necessary to detect the key press and release of the key 1. Therefore, a key switch (not shown) may be arranged on the key frame 2 and turned on / off according to the rotation of the key 1. However, key depression and key release can also be detected based on the output of the sensor 7 described above.

  The performance operator device shown in the figure has two performance modes: a force sense control mode (normal performance mode) and an automatic performance mode. By controlling the resultant force of the solenoid 3 in one direction applied in the counter-pressing direction and the urging force of the spring 4 applied in the pressing direction, both automatic performance and force sense control are possible.

In the force sense control mode, the direction of the resultant force of the reaction force (counter-pressing direction) applied to the key 1 by the solenoid 3 and the urging force (press-down direction) applied to the key 1 by the spring 4 is set to the counter-pressing direction. At this time, by using the operation state detection output of the sensor 7, a reaction force having a magnitude corresponding to the operation state of the key 1, for example, the key depression depth, is generated with respect to the operation of the key 1 by the performer.
A key switch or sensor 7 (not shown) detects a key pressing operation, and a musical tone signal having a pitch corresponding to the key 1 is generated and sounded according to the detected key pressing detection signal.

On the other hand, in the automatic performance mode, the key 1 is automatically pressed according to the performance data by setting the direction of the resultant force to the pressing direction.
In the case of a general electronic piano, the generation of a musical tone signal in the automatic performance mode is directly performed according to performance data without detecting the key pressing operation.
However, the key pressing operation of the key 1 that is automatically pressed according to the performance data may be detected by a key switch or sensor 7 (not shown), and a musical tone signal having a pitch corresponding to the key 1 may be generated.

FIG. 2 is an explanatory view schematically showing the characteristics of the reaction force generated by the solenoid 3 shown in FIG. The horizontal axis is the current i flowing through the coil 13 (see FIG. 3) of the solenoid 3, and the vertical axis is the reaction force f generated by the solenoid. The characteristics shown are not based on actual measurements.
The reaction force f generated by the solenoid 3 decreases as the current i flowing through the coil increases, and increases again after the decrease. That is, the reaction force f has a region where the reaction force f decreases (below ib) and a region where the reaction force f increases again (over ib) as the current i increases.
The solenoid 3 generates a reaction force fa (initial value of the magnetic reaction force) even at a point A where the current is ia = 0. The absolute value of the reaction force fa is slightly larger than the absolute value of the urging force of the spring 4 (the direction of the force is the reverse direction). As a result, in a non-energized state in which no current i flows through the coil, the position of the key 1 is regulated by the rear end 1c contacting the upper limit stopper 5, and the key 1 is in a stationary (key-released) state.

At the point B where the current becomes ib, the reaction force fb = 0. The point C where the current becomes ic is the point where the reaction force becomes fc = fa. The reaction force is fd at point D where the current increases and becomes id.
Here, when the magnitude (absolute value) of the reaction force f is greater than the biasing force (absolute value) of the spring 4, the direction of the resultant force of the reaction force f and the biasing force of the spring 4 is the counter-pressing direction. . Conversely, when the magnitude (absolute value) of the reaction force f is smaller than the urging force (absolute value) of the spring 4, the resultant force direction of the reaction force f and the urging force of the spring 4 is the pressing direction.

FIG. 3 is a schematic configuration diagram of the solenoid 3 shown in FIG. 3A is a plan view, and FIG. 3B is a cross-sectional view when viewed in the direction of arrows XX in FIG. 3A.
Reference numeral 11 denotes a yoke. In the illustrated example, the upper surface portion (upper surface rear portion 11a ₁ , upper surface front portion 11a ₂ ), rear surface portion 11b ₁ , lower surface portion (lower surface rear portion 11b ₂ , lower surface front portion 11b ₃ ), front surface portion 11b _4. It is a rectangular cylinder with a soft magnetic material.
Coil bobbin fitting holes 11c and 11d are formed in the upper surface portion and the lower surface portion, respectively, and the coil bobbin 12 is fitted therein.
In the illustrated example, the upper surface portion is formed of a flat plate 11a, and the rear surface portion, the lower surface portion, and the front surface portion are formed of a plate-like body 11b bent in a U-shape. The flat plate 11a and the plate-like body 11b are integrated by forming engagement recesses and engagement protrusions (not shown) or integrated by welding.

The coil bobbin 12 has a cylindrical shape, has a plunger insertion hole 12a at the center, and has disk-shaped flanges 12b and 12c formed near the upper end and the lower end.
The projecting cylindrical portion 12d that projects from the flange 12b to the upper end is fitted into the coil bobbin fitting hole 11c described above and protrudes above the coil bobbin fitting hole 11c. On the other hand, the protruding cylindrical portion 12e protruding from the flange 12c to the lower end is fitted into the coil bobbin fitting hole 11d described above.
The coil 13 is wound around the coil bobbin 12 and is surrounded by the yoke 11.
The above is the configuration of the solenoid 3 on the stator side.

On the other hand, the plunger 14 is configured on the mover side of the solenoid 3, and a small-diameter plunger rod 14b is concentrically coupled to a lower end surface of a large-diameter plunger barrel 14a formed of a soft magnetic material. The plunger body 14a is slidably inserted into the plunger insertion hole 12e.
The axial length of the plunger barrel 14a is shorter than the height from the lower end surface of the yoke 11 to the upper end surface. The lower end of the plunger rod 14b always protrudes downward from the lower end surface of the yoke 11, and the plunger head 14c is fixed here.

The structure of the solenoid 3 described so far is basically the same as that of a conventional penetrating solenoid.
In the conventional penetrating solenoid, when a direct current is supplied to the coil 13, a magnetic circuit indicated by a magnetic flux line 21 is formed by connecting the yoke 11 and the plunger body 14a. At that time, the edge portion of the coil bobbin fitting hole 11d of the lower surface rear 11b ₂ and the lower surface front 11a ₃ Metropolitan yoke 11 (edge), the magnetic flux lines in the air gap (gap) between the lower end surface of the plunger barrel 14a 21 Concentrate. Due to such a magnetic flux distribution, a magnetic attractive force that the plunger barrel 14a tries to move in the direction of shortening the air gap (gap) works. Accordingly, in FIG. 1, the plunger head 14 c generates a reaction force that pushes down the rear upper surface of the key 1.

In the illustrated solenoid 3, a pair of plate-like permanent magnets 15 and 16 are disposed and fixed to the rear surface portion 11 b ₁ and the front surface portion 11 b ₄ on the outer periphery of the yoke 11, respectively.
The permanent magnets 15 and 16 apply a magnetic bias to generate the magnetic flux lines 22 in the opposite direction to the magnetic flux lines 21 in the gap of the magnetic circuit described above.
That is, the solenoid 3 includes a magnetic circuit with a magnetic bias that generates a magnetic flux in a direction opposite to the magnetic flux generated by the current flowing through the coil 13. A current is passed through the coil 13 so that a magnetic flux is generated in a direction to cancel the magnetic bias.

Therefore, the magnetic flux generated by the permanent magnets 15 and 16 and the magnetic flux generated by the current flowing through the coil 13 are synthesized in the gap between the edge of the coil bobbin fitting hole 11d in the yoke 11 and the lower end surface of the plunger barrel 14a. Magnetic flux will be concentrated. As a result, the direction of the magnetic attractive force does not change, but the magnitude of the magnetic attractive force changes according to the synthesized magnetic flux.
As a result, a V-shaped reaction force characteristic as shown in FIG. 2 is obtained.
In the illustrated example, the upper portions of the permanent magnets 15 and 16 are N poles and the lower portions are S poles. However, when the upper portions are S poles and the lower portions are N poles, the direction of the current flowing through the coil 13 is reversed. To do.

In FIG. 2, in the non-energized state indicated by point A, the plunger barrel 14 a is magnetically attracted to the edge of the coil bobbin fitting hole 11 d by the magnetic flux lines 22 generated by the permanent magnets 15 and 16.
When the current flowing through the coil 13 is gradually increased, the magnetic flux lines 22 generated by the permanent magnets 15 and 16 are canceled by the magnetic flux lines 21 generated by the current flowing through the coil 13, and the magnetic attractive force is also weakened. When reaching point B, the magnetic attractive force disappears and only the urging force of the spring 4 is obtained.

Further, when the current flowing through the coil 13 is increased, the force of magnetically attracting the plunger barrel 14a to the edge of the coil bobbin fitting hole 11d by the magnetic flux line 21 caused by the current flowing through the coil 13 increases.
Accordingly, the magnetic flux lines 22 generated by the permanent magnets 15 and 16 and the magnetic flux lines 21 generated by the current flowing through the coil 13 are in opposite directions, but both have a magnetic attraction force in the same direction with respect to the plunger 14. appear.
In the assembly process, a stopper that prevents the plunger 14 from popping out may be inserted into the plunger insertion hole 12e of the coil bobbin 12.

FIG. 4 is an explanatory diagram showing the operating state of the key 1 in the embodiment shown in FIGS. 1 to 3 separately from the force sense control mode and the automatic performance mode.
In the haptic control mode, the current i flowing through the coil 13 is controlled to change within a range of ic or more, for example. A reaction force larger than the biasing force of the spring 4 is applied to the key 1 and the value of the current i is controlled according to the operation state detection output of the sensor 7.

  FIG. 4A is an explanatory diagram showing a key-off state in the haptic control mode. Corresponding to the point C in FIG. 2, the magnetic flux line 21 generated by the current flowing through the coil 13 cancels the magnetic flux line 22 generated by the permanent magnets 15 and 16, and the reaction force due to the magnetic attractive force generates the biasing force by the spring 4. Slightly higher, the resultant force applied to the key 1 is slightly counter-pressed. As a result, the rear end 1c of the key 1 is in contact with the upper limit stopper 5 and is in a stationary (key-released) state.

FIG. 4B is an explanatory diagram showing a key-on state in the haptic control mode. This corresponds to point D in FIG. The reaction force due to the magnetic attractive force greatly exceeds the urging force by the spring 4, and the resultant force applied to the key 1 is in the counter-pressing direction, giving a reaction force to the player's finger 31.
Since the reaction force is controlled according to the operation state of the key 1 by the sensor 7, the magnitude of the reaction force can be controlled according to the operation of the key 1.
When the performer releases the key 1, the key 1 returns to the stationary state shown in FIG.

On the other hand, in the automatic performance mode, the current i flowing through the coil 13 is controlled to change in the range of ia to ib, for example. A reaction force smaller than the biasing force of the spring 4 is applied to the key 1 and the value of the current i is controlled according to performance data.
FIG. 4C is an explanatory diagram showing a key-off state in the automatic performance mode. Corresponding to point A in FIG. 2, the magnetic attraction force by the permanent magnets 15, 16 of the solenoid 3 slightly exceeds the urging force by the spring 4, and the resultant force in the counter-pressing direction is given to the key 1. The end 1c contacts the upper limit stopper 5 and is in a stationary (key-released) state.

FIG. 4D is an explanatory diagram showing the final state of key-on in the automatic performance mode. Corresponding to point B in FIG. 2, only the urging force by the spring 4 is applied to the key 1 to turn on the key, and finally the key 1 contacts the lower limit stopper 6.
In this automatic performance mode, the current value i may be controlled on / off of ia = 0 and ib. However, when MIDI data is used as performance data, if the current value i is set to an intermediate value between ia = 0 and ib in accordance with the velocity value of the note-on message, FIG. It is also possible to control the operating state of the key 1 in the process leading to (d).

At point C in FIG. 2, a reaction force fa (initial value of the magnetic reaction force) having the same magnitude as point A is generated, so that the current value is controlled between point C and point B. Also, an automatic performance mode is possible. However, in this case, power is consumed even in a stationary (key release) state (point C).
On the other hand, when performing an automatic performance between the points A and B described above, there is an advantage that power is not consumed in a stationary (key release) state (point A).
In the force sense control mode, control for instructing a current value between points C and B in FIG. 2 may be performed. In this case, since the urging force is applied by the spring 4 in the same direction as the pressing operation force by the performer's finger 31, a special key touch feeling that the key 1 sinks can be given.

FIG. 5 is a structural diagram of another solenoid 40 in place of the solenoid 3 shown in FIGS. It is sectional drawing seen from the same direction as FIG.3 (b). In the figure, parts similar to those in FIG. 41-44 are permanent magnets.
In this specific example, the permanent magnets 41 and 42 are fixed to the rear end surface and the front end surface of the yoke 11 so that the upper end surfaces thereof are flush with the upper end surface of the yoke 11, and the permanent magnets 43 and 44 are The lower end surface is flush with the lower end surface of the yoke 11 and is fixed to the rear end surface and the front end surface of the yoke 11.

The polarities of the permanent magnets 41 to 44 are such that the magnetic flux lines 22 generated by the permanent magnet in the gap (gap) between the edge (edge) of the coil bobbin fitting hole 11d in the yoke 11 and the lower end surface of the plunger barrel 14a. Is set to cancel the magnetic flux lines 21 generated by the current flowing through the coil 13.
Accordingly, the solenoid 40 can be used in place of the solenoid 3 shown in FIG. 1 because the reaction force characteristic shown in FIG. 2 can be obtained in the same manner as the solenoid 3 shown in FIG.

The solenoids 3 and 40 described with reference to FIGS. 1 to 3 and FIG. 5 are rectangular cylindrical bodies in which the yoke 11 is configured by a flat plate and a plate-like body, and the axial direction of the cylinder is perpendicular to the paper surface. there were.
Instead, it may be a brown tube shape (cylindrical body having an upper base and a lower base) that is a shape to be rotated with respect to the axis of the solenoid, similarly to the coil bobbin 12 and the coil 13.
In this case, the permanent magnets 15 and 16 in FIG. 3 are integrated cylindrical bodies, and the permanent magnets 41 and 42 and the permanent magnets 43 and 44 in FIG. 5 are respectively integrated ring-shaped bodies (rings).

FIG. 6 is a block diagram for explaining the control function of the embodiment shown in FIG.
The performance operator 65 is displaced in the depressing direction or the counter depressing direction by receiving an urging force from the urging member 66 and a reaction force by the drive unit 64 as well as receiving an operation force by the player. It rotates around the fulcrum.
As will be described later with reference to FIG. 7, the performance operator 65 is a variety of keys such as a plurality of white keys operated by fingers, black keys, pedal keys operated by feet, etc. There is also.
When the performance operator 65 is a key, normally, a signal instructing the pronunciation of a pitch corresponding to the performance operator 65 is output when the performance operator 65 is pressed. In the case where the performance operator 65 is a pedal, when it is depressed, a control value corresponding to on / off or a depression depth for the performance control function assigned to this pedal is indicated.
In the following description, the case where the performance operator 65 is a key will be described.

The mode selection unit 61 selects one of the force sense control mode and the automatic performance mode in accordance with an operation performed by the performer on the mode selection operation element 75, and instructs the drive control unit 63.
The performance data supply unit 62 supplies the performance data read from the performance data storage unit 76 or the performance data transferred from the external device 77 to the drive control unit 63.

The drive control unit 63 controls the drive unit 64 so that the direction of the resultant force of the reaction force by the drive unit 64 and the urging force by the urging member 66 with respect to the performance operator 65 is either the pressing direction or the counter-pressing direction. Drive control.
When the haptic control mode is selected by the mode selection unit 61, the drive control unit 63 determines that the above-described resultant force is determined by the player according to the operation state of the performance operator 65 detected by the operation state detection unit 67. The drive unit 64 is driven and controlled so as to be a reaction force to the operation of the performance operator 65. The direction of the resultant force is the counter-pressing direction.
Further, when the automatic performance mode is selected, the drive control unit 63 is configured so that the above-described resultant force becomes a driving force for pressing the performance operator 65 according to the performance data supplied from the performance data supply unit 62. The drive unit 64 is driven and controlled. The direction of the resultant force is the pressing direction.

The drive unit 64 is provided in correspondence with the performance operator 65, generates a reaction force that rotates it in the counter-pressing direction, and transmits the reaction force to the performance operator 65.
The drive unit 64 corresponds to, for example, the solenoid 3 illustrated in FIGS. 1 to 4 and the solenoid 40 illustrated in FIG. 5. The drive unit 64 has a yoke, a coil, and a member (permanent magnet) for applying a magnetic bias on the stator side, and a plunger on the mover side.

The stator has a reaction force characteristic as shown in FIG.
The stator gives a magnetic reaction force having an initial value larger than the urging force of the urging member 66 to the movable element when no current is supplied from the drive control unit 63 by a member that gives a magnetic bias. Give it in the opposite direction.
The stator generates a magnetic flux in a direction that cancels the magnetic flux distribution that generates the initial value of the magnetic reaction force when current is supplied from the drive control unit 63, and increases the current supplied from the drive control unit 63. Accordingly, a magnetic reaction force having a characteristic of increasing again after decreasing from the initial value of the magnetic driving force described above is applied to the mover in the counter-pressing direction.
The mover transmits the magnetic reaction force applied by the stator to the performance operator 65 so that the direction of the resultant force with respect to the performance operator 65 is either the pressing direction or the counter-pressing direction. .

The biasing member 66 is, for example, the spring 4 shown in FIG. 1 and is provided corresponding to the performance operator 65, and generates a biasing force that displaces (rotates) it in the pressing direction.
However, the biasing member 66 is not limited to a spring as long as it biases the performance operator 65 in the pressing direction. For example, in FIG. 1, the front end 1d side of the fulcrum part 1a of the key 1 is made longer than the rear end 1c side, or a weight is attached to the front end 1d side to make it heavier. ) It is possible to urge in the pressing direction by its own weight.

The operation state detection unit 67 is provided corresponding to the performance operator 65 and detects the operation state. The operation state detection unit 67 corresponds to the sensor 7 shown in FIG. The operation state refers to a displacement position (a rotation position and a rotation angle in FIG. 1) of a specific part of the performance operator 65, a moving speed (angular velocity), an acceleration (angular acceleration) of the specific part of the performance operator 65, and the like. It is.
The operation state detection unit 67 may detect a plurality of operation states and generate a reaction force corresponding to them, but at least a displacement position (rotation position, rotation angle) of a specific location of the performance operator 65. ) Is detected.

Next, an example of the internal configuration of the drive control unit 63 will be described.
The drive control unit 63 has a reaction force information output unit 68, and operates the detection output of the operation state of the performance operator 65 when the player performs a pressing operation when the haptic control mode is selected. As the reaction force information input from the state detection unit 67 and transmitted to the performance operator 65 by the drive unit 64, the reaction force information corresponding to the detection output of the operation state is referred to the control pattern table 69 for haptic control. And output.
The force sense control pattern table 69 stores a control pattern (touch curve) for force sense control. For the value of the operation state, for example, each numerical value representing a plurality of rotation positions. This corresponds to the numerical value of the reaction force information. If the reaction force information has a one-to-one correspondence with the reaction force value, the reaction force value need not be the reaction force value itself.

On the other hand, when the automatic performance mode is selected, the reaction force information output unit 68 is supplied with performance data from the performance data supply unit 62, and performance data designating the pronunciation of the pitch assigned to the performance operator 65 is received. When input, as the reaction force information to be generated by the drive unit 64, the reaction force information specified by this performance data, for example, corresponding to the pressing operation intensity (velocity) is stored in the automatic performance control pattern table 70. Determine by reference.
The automatic performance control pattern table 69 stores control patterns for automatic performance, and the numerical value of the reaction force information corresponds to each numerical value of the pressing operation intensity (velocity) designated by the performance data. It has been made.

The reaction force information for the performance operator 65 described above is input to the command value output unit 71. When the force sense control mode is selected, the command value output unit 71 refers to the force sense control command value output table 72 according to the reaction force information, and outputs the drive current command value to the drive current output unit 74. To do. The drive current command value need not be the current value itself as long as it has a one-to-one correspondence with the current value.
The haptic control command value output table 72 stores the drive current values for the values of the reaction force information in the range used in the haptic control based on the reaction force characteristics shown in FIG.

When the automatic performance mode is selected, the command value output unit 71 refers to the automatic performance command value output table 73 according to the reaction force information, and outputs a drive current command value to the drive current output unit 74.
The automatic performance command value output table 73 stores drive current values for each reaction force information value within a range used in automatic performance, based on the reaction force characteristics shown in FIG.

The stored contents of the force pattern control pattern table 69, the automatic performance control pattern table 70, the automatic performance command value output table 72, and the force sense command value output table 73 described above vary depending on the type of the performance operator 65. In addition, it is desirable that the keys on the same keyboard differ depending on the pitch of the key, the range of the key, and the like.
The drive unit 64 may have a different maximum rated value depending on the type of the performance operator 65, the pitch of the key, the range, and the like.

In addition, each table described above may prepare a plurality of tables having different stored contents, and the user may select which table to use by a selection operation not shown.
For example, one of a plurality of types of force control control pattern tables 69 is selected, and various touch feelings such as obtaining a touch feeling peculiar to an acoustic piano or a touch feeling peculiar to a harpsichord are created. be able to.

In the automatic performance mode, when the performance data supplied does not include information on the pressing operation intensity, or when the pressing operation intensity is not reflected in the automatic performance, the performance operator 65 is biased by the biasing member 66. The reaction force information may be a constant value sufficient to be pressed by the urging force, for example, fb = 0.
In the automatic performance mode, the performance operator 65 may be automatically driven while detecting the operation state of the performance operator 65 and feeding back the operation state to the drive control.

  In the above description, the force control control pattern table 69 and the automatic performance control pattern table 70 are different. However, if the performance data is the same as the data indicating the operation state output from the operation state detection unit 67, the force sense control pattern table 69 and the automatic performance control pattern table 70 are used in common. Can be.

The drive current output unit 74 outputs a current corresponding to the command value of the drive current to the drive unit 64. For example, the duty ratio of the pulse waveform having a constant cycle is controlled so that the average current of the pulse waveform corresponds to the command value of the drive current by PWM (pulse width control) that controls the pulse current according to the command value of the drive current.
In the above description, the reaction force information output unit 68 outputs the reaction force information and the command value by referring to the table. Instead, the reaction force information output unit 68 uses a predetermined calculation formula based on the value of the pressing operation strength included in the performance data or the value of the motion state detection output in each selected mode. You may output reaction force information by calculating. Similarly, the command value output unit 71 may output the command value by calculating using a predetermined calculation formula based on the value of the reaction force information in each selected mode.

In FIG. 6, a reaction force by the drive unit 64 and a biasing force by the biasing member 66 are given to the performance operator 65.
Some conventional electronic keyboard instruments include a mass body (hammer) that controls the rotation of the key in conjunction with the key. Some conventional automatic performance pianos have a hammer action mechanism. You may provide additional mechanisms, such as such a mass body and a hammer action mechanism.
Since these conventional additional mechanisms bias the performance operator 65 in the counter-operation direction, it is necessary to design the biasing force of the spring 4 in consideration of the biasing force of the additional mechanism.
When the performance operator 65 includes these additional mechanisms, the haptic control by the drive unit 64 can supplement the haptic control by the additional mechanism. In addition, it is possible to create a new key touch feeling that cannot be obtained by force sense control using an additional mechanism.

FIG. 7 is a hardware block diagram in the case where the drive control unit in the functional block shown in FIG. 6 is realized mainly using a CPU.
A bus 81 interconnects a plurality of hardware blocks including a CPU (Central Processing Unit) 82 and transfers data and programs between the plurality of hardware blocks under the control of the CPU 82.
The CPU 82 provides a work area in a RAM (Random Access Memory) 84 and executes a program to perform transfer between a plurality of hardware blocks and overall control for uniformly executing the functions of each hardware block. Execute.
The CPU 82 implements the functions of the reaction force information output unit 68 and the command value output unit 71 in the drive control unit 63 in the performance operator device shown in FIG.

The program is stored in a flash memory (Electrically Erasable and Programmable ROM) 83, for example. Time interrupt processing such as processing according to the tempo of the music is executed at the interrupt timing indicated by the timer 85.
The program may be stored in an external storage device 87 such as an HDD (Hard Magnetic Disk Drive Device) 86, a ROM (Read Only Memory) 96, a USB (Universal Serial Bus) memory or the like.
The music data and accompaniment data for automatic performance can be stored in a storage device such as the HDD 86, the flash memory 83, the HDD 86, and the external storage device 87. Therefore, these storage devices correspond to the performance data storage unit 76 shown in FIG.

In the illustrated example, the ROM 86 stores control pattern tables 86a ₁ , 86a ₂ , 86a ₃ ,..., Command value output tables 86b ₁ , 86b ₂ , 86b ₃ ,.
Therefore, the automatic performance control pattern table 69, the force sense control pattern table 70, the automatic performance command value output table 72, and the force sense control command value output table 73 shown in FIG. . These may be stored in the flash memory 83.

The programs, data files, and tables stored in the flash memory 83, HDD 86, and external storage device 87 described above can be stored as a database in the server device 88 and downloaded via the communication network 89 and the communication interface 90. it can. Therefore, it is possible to update programs and tables, or purchase desired music data using a network service.
Similarly to the server device 88 described above, a program, a data file, a program, a data file, an external device 91 connected to the LAN, via the communication interface 90, and from another MIDI device 92 via the MIDI interface 93. You can also download the table.

In addition, a MIDI signal transferred in real time by being played or played by another MIDI device 92 can be input via the MIDI interface 93 and automatically played.
Furthermore, performance data can be transferred from the server device 88 and the external device 91 and temporarily stored in the RAM 84 while being streamed in real time.
Accordingly, the external device 77 shown in FIG. 6 corresponds to the other MIDI device 92, the server device 88, and the external device 91.

The setting operation unit 94 is arranged on the operation panel, and is a switch for selecting or setting by the performer and a knob for variably adjusting the volume level. Therefore, the mode selection operator 75 shown in FIG. 6 is also included.
The display control circuit 95 controls a display device 96 such as a liquid crystal display and an LED indicator arranged on the operation panel, transfers display image data for setting operation input, and transfers lighting control data.
The sound source circuit 97 is generally a sound source LSI, and inputs performance data or a sound source control parameter created based on the performance data according to the specifications, and based on the input performance data or sound source control parameter. A tone waveform signal is generated and output to the tone output unit 98. The musical sound output unit 98 amplifies the musical sound waveform signal by applying an effect such as reverberation, and outputs the amplified signal to a speaker, headphones, or the like.

Although the keyboard device 101 and the pedal operator 102 are illustrated as the performance operator 100, there are some that do not have the pedal operator 102.
The keyboard device 101 includes a plurality of white keys and black keys, and some includes a pedal keyboard.
The pedal operator 102 is a performance operator such as a damper pedal, a sostenuto pedal, or a soft pedal, which is controlled by a foot operation.

  In the block of the keyboard device 101 and the pedal device 102, the drive current output units 103 and 107, the drive devices 104 and 108, the operation state and key press detection unit 106, and the operation state and press pedal detection unit 110 are shown in FIG. Further, it corresponds to the drive current output unit 74, the drive unit 64, and the operation state detection unit 67. These also perform original key press detection and press pedal detection of the keyboard 101 and the pedal 102. However, the original key depression detection and push pedal detection may be performed by another switch, sensor, or the like.

During normal performance including the haptic control mode, the operation state and key depression detecting unit 106 detects information obtained by detecting the key depression operation by the user (for example, the key number detected by key-on and key-off, the velocity of the key). Performance data (dedicated format data or MIDI message) is created based on the value etc. and transferred to the RAM 84. The CPU outputs the performance data to the tone generator circuit 97 or outputs the tone generator control parameters created based on the performance data to the tone generator circuit 97.
On the other hand, in the automatic performance mode in which the key is automatically pressed, or in the case of automatically reproducing the song data without automatically pressing the key, it is played from a song data storage device such as the HDD 86 or via the MIDI interface 93 or the like. The performance data (generally MIDI messages) input in this manner is transferred to the RAM 84, and the CPU 82 outputs the performance data to the tone generator circuit 97 or creates a tone generator parameter based on the performance data. The sound source parameters are output to the sound source circuit 97.

The performance operator 65 to which the present invention is applied may be either the keyboard device 101 or the pedal operator 102, or may be a part of a plurality of keys or a part of a plurality of pedal operators.
Also, it is not necessary to select the same mode for all performance operators. For example, the key of the melody performance area can be set to the force sense control mode, and the key of the accompaniment area can be set to the automatic performance mode.
The apparatus to which the present invention is applied is not limited to the electronic keyboard instrument as shown in FIG. It may be a keyboard device that only outputs information on the key pressing operation and key releasing operation to the outside.

It is explanatory drawing of one Embodiment of this invention. It is explanatory drawing which shows typically the characteristic of the reaction force which the solenoid shown in FIG. 1 generate | occur | produces. It is a schematic block diagram of the solenoid shown in FIG. In the embodiment shown in FIGS. 1-3, it is explanatory drawing which shows the operation state of a key separately in force sense control mode and automatic performance mode. FIG. 5 is a structural diagram of another solenoid in place of the solenoid shown in FIGS. 1 to 4. It is a block diagram for demonstrating the control function of embodiment shown in FIG. It is a hardware block diagram in the case of implement | achieving the drive control part in the functional block shown in FIG. 6 mainly using CPU.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Key (performance operator), 1a ... Supporting point part, 1b ... Key upper surface part, 1c ... Rear end part, 1d ... Front end part, 1e ... Front lower end, 2 ... Key frame, 2a ... Key support part, 2b ... Level difference 3, solenoid (drive means), 4 ... spring (biasing means), 5 ... upper limit stopper, 6 ... lower limit stopper, 7 ... sensor (operation state detection means), 7a ... sensor stator, 7b ... sensor Mover,
11 ... yoke (stator side), 11a ... flat, 11a ₁ ... top rear, 11a ₂ ... top front, 11b ... plate-like body, 11b ₁ ... rear portion, 11b ₂ ... lower surface rear, 11b ₃ ... bottom surface front portion 11b ₄ ... front part, 11c, 11d ... coil bobbin fitting hole, 12 ... coil bobbin (stator side), 12a ... plunger insertion hole, 12b, 12c ... flange, 12d, 12e ... projecting cylinder part, 13 ... coil (fixed) Child side), 14 ... plunger (movable element), 14a ... plunger barrel, 14b ... plunger rod, 14c ... plunger head, 15, 16 ... permanent magnet (stator side), 21, 22 ... magnetic flux lines,
31 ... finger, 40 ... solenoid (driving means), 41-44 ... permanent magnet (stator side),
DESCRIPTION OF SYMBOLS 61 ... Mode selection part 62 ... Performance data supply part 63 ... Drive control part 64 ... Drive part 65 ... Performance operator 66 ... Energizing member 67 ... Operation state detection part 75 ... Mode selection operator 76 ... performance data storage unit, 77 ... external device,
82: CPU (main part of drive control unit), 94: Setting operation unit (mode selection means), 101: Keyboard (performance operation unit), 102: Pedal operation unit (performance operation unit), 103, 107: Drive current Output unit, 104, 108 ... driving device (driving means), 106, 110 ... operating state detecting unit (operating state detecting unit)

Claims (4)

A performance operator that rotates a predetermined stroke range in a pressing direction and a counter-pressing direction around a fulcrum according to a player's operation,
Drive means provided corresponding to the performance operator, generating a reaction force for rotating the performance operator in the counter-pressing direction, and transmitting the reaction force to the performance operator;
In a performance operator device having drive control means for driving and controlling the drive means,
An urging means that is provided corresponding to the performance operator and generates an urging force that rotates the performance operator in the pressing direction;
The drive control means controls the drive means so that the resultant force of the reaction force by the drive means and the urging force by the urging means on the performance operator is in either the pressing direction or the counter-pressing direction. Drive control,
A performance operator device characterized by that. Mode selection means for selecting one of force sense control mode and automatic performance mode;
An operation state detecting means for detecting an operation state of the performance operator;
Having performance data supply means for supplying performance data;
The drive control means includes
When the haptic control mode is selected by the mode selection means, the resultant force is determined by the performer according to the operation state of the performance operator detected by the operation state detection means. Drive control of the drive means so as to be a reaction force to the operation,
When the automatic performance mode is selected by the mode selection means, the resultant force is a driving force for pressing the performance operator according to the performance data supplied by the performance data supply means. Driving and controlling the driving means;
The performance operator device according to claim 1. The drive control means controls the drive means by supplying current to the drive means,
The drive means has a stator and a mover,
When the stator is not supplied with current from the drive control means, the stator gives a magnetic reaction force having an initial value larger than the urging force by the urging means to the movable element in the counter-pressing direction. In addition, by supplying a current from the drive control means, a magnetic flux in a direction that cancels a magnetic flux distribution that generates the initial value of the magnetic reaction force is generated, and with an increase in the current supplied from the drive control means, A magnetic reaction force having a characteristic of increasing again after decreasing from an initial value of the magnetic reaction force is given to the mover in the counter-pressing direction,
The mover transmits a magnetic reaction force applied by the stator to the performance operator so that the resultant force is in either the pressing direction or the counter-pressing direction.
The performance operator device according to claim 1 or 2, characterized in that The driving means is a solenoid;
The stator has a coil, a yoke, and a permanent magnet of the solenoid,
The mover has a plunger of the solenoid;
The permanent magnet generates an initial value of the magnetic reaction force with respect to the plunger by generating a magnetic flux distribution in a direction canceled by the magnetic flux generated by the current supplied from the drive control means to the coil of the solenoid. Giving in the counter-pressing direction,
The performance operator device according to claim 3.

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