JP5194924B2 - Keyboard device - Google Patents

Description

  The present invention relates to a keyboard device, and more particularly to a keyboard device that applies an automatic performance and gives a touch feeling by applying a force to a performance operator such as a keyboard or a pedal.

  Some keyboard devices have a manual performance mode in which a person plays a keyboard (performance operator) with a finger, and an automatic performance mode in which the device itself drives the keyboard. By the way, the piano keyboard of a natural musical instrument drives a hammer by a key operation and strikes a string to generate a musical sound. On the other hand, since the keyboard of an electronic musical instrument does not need to drive a mechanical element such as a hammer, it is generally made with a simple configuration. For this reason, when the electronic musical instrument is played, the touch feeling of the keyboard is considerably different from the natural musical instrument. Therefore, in the manual performance mode, for example, an electric actuator is used to apply a force in the direction of returning the key to the initial position so that the touch feels heavy, and the touch feeling of the keyboard of the electronic musical instrument is It is close to the touch of the keyboard. On the other hand, in the automatic performance mode, the keyboard is sunk as the music progresses by applying a force in the direction of turning to the pressing position with respect to the key using an actuator.

In such a keyboard apparatus, it is necessary to drive the actuator in two directions, that is, a direction to return to the initial position with respect to the keyboard and a direction to rotate to the pressing position. For this reason, a system is known in which two upper and lower actuators are provided, and these are individually driven and controlled. However, in this method, it is necessary to provide two actuators, and there is a problem in cost. Thus, for example, there has been proposed one in which two solenoid coils are arranged side by side in the driving direction of one plunger and the plunger is driven in both directions by switching control of the two solenoid coils (Patent Document 1). However, also in this case, it is necessary to provide two solenoid coils for one plunger, which causes a problem in cost. In addition, there has been proposed one that drives a plunger bidirectionally by changing the positional relationship between the plunger and the solenoid coil using a cam (Patent Document 2). In this case, however, it is necessary to provide a cam mechanism, which is problematic in terms of cost.
Japanese Patent Laid-Open No. 10-20857 Japanese Patent Laid-Open No. 10-161652

  Therefore, the present invention focuses on the above-described problems, and an object thereof is to provide a keyboard device that can execute both automatic performance and force sense control at low cost.

The invention according to claim 1, which has been made to solve the above-mentioned problems, includes a performance operator that rotates within a range of a push-off position from an initial position around a fulcrum as a player performs a performance operation, and the performance operator. A mass body for applying a load to the performance operator, a motion detection means for detecting the motion of the performance operator, an actuator for applying a force to the performance operator, and a predetermined result corresponding to a detection result from the motion detection means In the keyboard device provided with force sense control means for controlling the actuator so as to give the player a performance reaction force in a direction to return to the initial position, the mass body is the initial value given to the performance operator. load in the direction to return to the position is configured to be greater than the maximum value of the performance counter force applied to the player, the to apply a force in a direction which rotates the Oshikiri position relative to the performance operator Actuator is resides in a keyboard apparatus, characterized in that it is provided.

According to a second aspect of the present invention, there is provided a performance operator that rotates within a range from an initial position to a push-off position around a fulcrum as a player performs a performance operation, a mass body that applies a load to the performance operator, An operation detecting means for detecting the operation of the performance operator, an actuator for applying a force to the performance operator, and a performance reaction force in a direction to return to the initial position predetermined according to a detection result from the operation detection means In the keyboard device provided with force sense control means for controlling the actuator so as to give to the player, and a spring for biasing the performance operator in a direction to return to the initial position, the mass body and the the mass body and the spring to be greater than the maximum value of the performance counter force load in the direction of returning to the initial position given to the performance operator by both the spring gives to the player is provided It said actuator to apply a force in a direction which rotates the Oshikiri position relative to the performance operator is resides in a keyboard apparatus, characterized in that it is provided.

  According to a third aspect of the present invention, there is provided an automatic performance means for performing an automatic performance by controlling the actuator so as to apply a force to the performance operator in a direction to rotate to the push-off position according to performance information. The keyboard apparatus according to claim 1, wherein the keyboard apparatus is provided.

  A fourth aspect of the invention resides in the keyboard device according to any one of the first to third aspects, wherein the performance operator comprises a keyboard or / and a pedal.

  According to a fifth aspect of the present invention, the mass body is disposed in front of the fulcrum of the performance operator, and the actuator is disposed under the performance operator in front of the fulcrum of the performance operator. It exists in the keyboard apparatus of any one of Claims 1-4 characterized by the above-mentioned.

  According to a sixth aspect of the present invention, the mass body is disposed before and after the fulcrum of the performance operator, and the actuator is disposed below the performance operator in front of the fulcrum of the performance operator. It exists in the keyboard apparatus of any one of Claims 1-4 characterized by the above-mentioned.

  According to a seventh aspect of the present invention, the mass body is disposed before and after a fulcrum of the performance operator, and the actuator is disposed below the performance operator behind the fulcrum of the performance operator. It exists in the keyboard apparatus of any one of Claims 1-4 characterized by the above-mentioned.

  As described above, according to the first and third to seventh aspects of the present invention, the maximum value of the reaction force exerted on the player by the load in the direction in which the mass body returns to the initial position given to the performance operator by the mass body. Therefore, force control can be performed by applying force in the direction of turning to the push-off position with respect to the performance operator by the actuator. For this reason, it is possible to perform both automatic performance and force sense control at a low cost by performing an actuator that drives in the direction of turning to the push-off position with respect to the performer during both automatic performance and force sense control. .

  According to the second to seventh aspects of the present invention, from the maximum value of the performance reaction force applied to the performer by the load in the direction in which the mass body and the spring are returned to the initial position given to the performance operator by both the mass body and the spring. Therefore, it is possible to control the sense of force by applying a force in the direction of turning to the push position with respect to the performance operator by the actuator. For this reason, it is possible to perform both automatic performance and force sense control at a low cost by performing an actuator that drives in the direction of turning to the push-off position with respect to the performer during both automatic performance and force sense control. . In addition, since the spring for urging the performance operator in the direction to return to the initial position is provided, the force generated by the actuator during the force sense control can be reduced, and the cost can be reduced.

First Embodiment Hereinafter, a first embodiment of the present invention will be described with reference to FIGS. The keyboard device 1 is used for, for example, an acoustic piano (hereinafter referred to as a raw piano). As shown in FIG. 1, the keyboard apparatus 1 in the first embodiment includes a damper mechanism 2, a pedal unit 3, a protruding bar 4, a protruding bar slice guide 5, an actuator unit 6 as an actuator, and a mass. And a body unit 7. In the following description, “up / down / left / right / front / back” of the keyboard device 1 means “up / down / left / right / front / back” in an upright state viewed from the performer side during performance.

  The damper mechanism 2 includes a damper 8, a damper support bar 9, a damper lever 10, a damper bar 11 common to multiple keys extended in the key arrangement direction, and the like. The damper 8 normally prevents free vibration of the string 12 by pressing from above the string 12. The damper support bar 9 is disposed such that its longitudinal direction is along the vertical direction, the upper end is fixed to the damper 8, and the lower end is fixed to a damper lever 10, which will be described later, so as to be rotatable around a fulcrum C <b> 1. Is provided. The damper lever 10 is arranged with its longitudinal direction along the front-rear direction. The lower end of the damper support bar 9 is fixed to the front side so as to be rotatable around the fulcrum C1, and the damper lever 10 is rotated about the fulcrum C2 on the rear side. The damper bar 11 is fixed so as to be movable. The rear ends of the white key 14 and the black key 15 disposed on the shelf board 13 are disposed below the front end of the damper lever 10. Therefore, when the performer strikes the white key 14 and the black key 15, the rear ends of the white key 14 and the black key 15 rise upward and push up the front end of the damper lever 10 through the felt 16. As a result, the damper support rod 9 is pushed upward, and the damper 8 is separated from the string 12.

  The damper bar 11 is connected to a damper pedal 17 (hereinafter simply abbreviated as a pedal 17) as a performance operator via an actuator unit 6 and a protrusion rod 4 which will be described later, and when the pedal 17 is depressed, the damper bar 11 11 is pushed upward. Therefore, when the performer depresses the pedal 17, the damper bar 11 is pushed upward by rotating around the fulcrum C2, and accordingly, the front end side of the damper lever 10 is pushed up. Thereby, each contact part 10a, 10b contact | abuts, the front-end side of the damper lever 10 is pushed up, and the damper support bar 9 is pushed up. Then, the damper 8 is separated from the string 12.

  The pedal unit 3 includes a pedal box 18, a pedal 17, an upper limit stopper 19, a lower limit stopper 20, and the like. The pedal box 18 has a substantially box shape and houses a pedal 17 and the like which will be described later. The pedal 17 is provided so as to be elongated in the front-rear direction. The pedal 17 is pivotally supported by a pedal support portion 21 provided on the upper surface of the pedal box 18, and rotates around a fulcrum C3 within a range from the initial position to the push position in accordance with the performance operation of the performer. The front end of the pedal 17 is provided so as to protrude from an opening provided in the front surface of the pedal box 18 so that the player can perform a stepping operation. Further, the rear end of the pedal 17 is provided so as to protrude from an opening provided on the rear surface of the pedal box 18, and is attached to a thrust bar 4 described later.

  The upper and lower limit stoppers 19 and 20 are made of rubber or the like, and the stopper 19 is disposed on the upper surface of the pedal box 18 on the rear side of the fulcrum C3 of the pedal 17. The upper limit stopper 19 is a stopper that regulates the rotation of the pedal 17 by contacting the rear side of the fulcrum C3 when the pedal 17 is stepped on and reaches the pressing position. The lower limit stopper 20 is disposed on the lower surface of the pedal box 18 on the rear side of the fulcrum C3 of the pedal 17. As shown in FIG. 1, the lower limit stopper 20 is a stopper that abuts at the initial position where the pedal 17 is not depressed and restricts the rotation of the pedal 17.

  The thrust bar 4 connects the core 22 of the actuator unit 6 and the rear end of the pedal 17 so that the longitudinal direction thereof is along the vertical direction. The lower end of the protrusion rod 4 is fixed to the rear end of the pedal 17 so as to be rotatable around a fulcrum C4. The upper end of the thrust bar 4 is fixed to the lower end of a core 22 of an actuator unit 6 (described later) fixed to the shelf 13 of the keyboard device 1 main body. Further, the thrust bar 4 is provided with a male screw portion 25 which is screwed with a nut 24 fixed to a mass body 23 described later. The protruding rod slice guide 5 is attached to the upper surface outside the pedal box 18 and is provided with a long hole guide hole 26 into which the protruding rod 4 is inserted. The upright bar slice guide 5 abuts on the upright bar 4 when the upright bar 4 shakes back and forth and right and left and regulates up and down and left and right movement of the upright bar 4 to guide in the vertical direction.

  The actuator unit 6 includes a magnetic frame 27, a coil 28, a spacer 29, a core 22, a shaft 30, a position sensor 31 as an operation detecting means, and the like. The magnetic frame 27 is made of a ferromagnetic material, and a coil 28 is accommodated therein. The magnetic frame 27 includes a yoke 32 and a lid 33. The yoke 32 includes a cylindrical receiving portion 34 whose lower side is opened, and a flange portion 35 provided at the opening edge of the receiving portion 34. On the upper surface of the receiving portion 34, an opening 36 from which an upper end of a shaft 30 described later projects is provided. The lid 33 is provided in a substantially disc shape and is disposed so as to close the opening of the receiving portion 34 of the yoke 32. The lid 33 is provided with an opening 37 from which a lower end of the core 22 to be described later projects, and a guide wall 38 erected downward from the edge of the opening 37. The guide wall 38 abuts against the core 22 when the core 22 described later is shaken back and forth and left and right, and guides the guide 22 in the up and down direction by restricting the shake of the core 22 from front to back and left and right.

  The coil 28 is composed of a winding wire with the core 22 as the center. The spacer 29 is made of rubber or the like and is a backlash buffer material disposed between the lid 33 and the coil 28. The core 22 is made of a high relative permeability magnetic body having a small hysteresis loop area, and is arranged at the center of the coil 28 described above so that the axis is parallel to the vertical direction. The core 22 is urged by a compression spring 39 as a spring, which will be described later, so that the lower end of the core 22 protrudes from the coil 28 at an initial position where the pedal 17 is not depressed. The shaft 30 is fixed to the upper side of the core 22. The upper end of the shaft 30 protrudes from the opening 36 of the yoke 32 and is joined to the damper bar 11 of the damper mechanism 2 described later. The position sensor 31 is disposed on the upper surface of the yoke 32 and is a photo reflector type optical sensor. The position sensor 31 detects the position of the shaft 30 by detecting the contact and separation with the damper bar 11 by transmitting and receiving light. It is a sensor in which the position of is detected. The position sensor 31 may be a pressure sensor using a spring instead of the light detection type.

  According to the actuator unit 6 described above, when an electric current is passed through the coil 28, a force for pulling the core 22 into the coil 28 (force directed upward) is applied. As a result, the core 22 generates a force to turn upward after the pedal support portion 21 of the pedal 17 via the protruding rod 4, that is, to turn the pedal 17 to the pushing position. At this time, the shaft 30 pushes the damper bar 11 upward, and the damper 8 moves away from the string 12. As the current flowing through the coil 28 is increased, the force for pulling the core 22 into the coil 28 increases, and the pedal 17 is pushed in and acts to lighten in the middle.

  The mass body unit 7 described above includes a cover main body 40, a mass body 23, a nut 24, a lower limit stopper 41, a compression spring 39, and the like in the cover main body 40. The cover body 40 has an opening on the upper side and a cylindrical receiving tray portion 43 provided with an insertion hole 42 that is elongated in the front-rear direction for inserting the protruding rod 4 on the bottom surface, and an opening edge of the receiving tray portion 43. And a flange portion 44 provided on the front side. The cover body 40 is attached to the lower surface of the shelf board 13. The mass body 23 is formed in a disk shape, for example, and an insertion hole 45 for inserting the above-described protrusion rod 4 is provided at the center thereof. Further, the mass body 23 is formed with a concave punching portion 46 for accommodating a compression spring 39 described later at the center of the upper surface thereof. The nut 24 is fixed to the bottom surface of the counterbored portion 46 of the mass body 23 so that the screw hole and the insertion hole 45 of the mass body 23 are aligned in the vertical direction. By screwing the male thread portion 25 of the protruding rod 4 into the screw hole of the nut 24, the mass body 23 and the protruding rod 4 are integrated and fixed. Then, the mass body 23 applies a load to the pedal 17 in a direction to return the pedal 17 to the initial position via the thrust bar 4.

  The lower limit stopper 41 is made of rubber or the like and is disposed on the lower surface of the cover body 40. As shown in FIG. 1, the lower limit stopper 41 is a stopper that contacts the lower surface of the mass body 23 and restricts the rotation range of the pedal 17 when the pedal 17 is not depressed. The lower limit stopper 41 is also formed with an insertion hole 47 into which the protrusion rod 4 is inserted. The compression spring 39 is provided between the bore 46 of the mass body 23 and the lid body 33. The compression spring 39 is provided so as to bias the pedal 17 in a direction to return the pedal 17 to the initial position via the mass body 23 and the protruding rod 4.

  Next, a procedure for mounting the pedal unit 3, the actuator unit 6, and the mass body unit 7 having the above-described configuration will be described. First, the actuator unit 6 is assembled with the core 22 removed beforehand. Thereafter, the actuator unit 6 is inserted into the mounting hole 48 provided in the shelf board 13 from below to above the shelf board 13, and then the flange portion 35 of the yoke 32 and the lid body 33 are screwed onto the shelf board 13 by the screw N <b> 1. The actuator unit 6 is fixed to the shelf board 13 by stopping. Next, the lower limit stopper 41 is disposed on the bottom surface of the cover main body 40, and the protruding rod 4 to which the mass body 23 and the core 22 are fixed is inserted into the insertion hole 42 provided in the cover main body 40 from above. Thereafter, the core 22 is inserted into the opening 37 and the coil hole 28a while the compression spring 39 is disposed on the bore portion 46 of the mass body 23, and the flange portion 44 of the cover body 40 is fixed to the lower surface of the shelf 13 with the screw N2. To do. At this time, since the lower end of the coil 22 and the upper end of the protrusion rod 4 are coupled to be able to be bent in the front-rear direction at the link coupling portion R, the assembly operation is facilitated. This connecting portion R corresponds to the front-rear clearance in the vertical movement of the pedal 17. Then, the lower end of the protrusion rod 4 and the rear end of the pedal 17 are fixed so as to be rotatable about the fulcrum C4.

  Next, the load applied to the pedal 17 by both the compression spring 39 and the mass body 23 will be described with reference to FIG. As shown by the solid line in FIG. 2 (A), while the pedal 17 is not fully depressed and the felt part 11a of the damper bar 11 does not contact the contact part 10a of the lever 10, a is a static load and compression of the mass unit 7. In order to raise the amount of spring pressure of the spring 39, the performance reaction force that should be given to the performer gradually increases from the initial position of the pedal 17 with respect to the increase in displacement. Further, when the pedal 17 is depressed, the felt part 11a comes into contact with the contact part 10a, and the damper 8 starts to be separated from some strings 12 (point b), the performance reaction force against the increase in the displacement amount of the pedal 17 increases. Further, when the pedal 17 is further depressed, the damper 8 is completely separated from all the strings 12 (point c). The performance force of the performance is gently reduced against the increase in the displacement amount of the pedal 17 again by the spring pressure and the mass body static load. Increase (d region). Thereafter, when the pedal 17 reaches the push-off position (point e), the pedal 17 hits the upper limit stopper 19 as shown by the alternate long and short dash line, and the playing reaction force increases rapidly.

  Therefore, the load for returning the pedal 17 to the initial position by both the compression spring 39 and the mass body 23 indicated by the dotted line is always larger from the initial position to the pressing position than the performance reaction force that the pedal 17 should normally give to the player ( For example, the compression spring 39 and the mass body 23 set each position as shown by a solid line reaction force. As shown in FIG. 2 (B), if the force obtained by subtracting the solid line from the dotted line by the actuator unit 6 is applied to the pedal 17 in the direction of turning to the push-off position, the force shown in FIG. ) Can be given to the performer in the direction of returning to the initial position as indicated by the solid line. In other words, a slightly heavier force is applied to the pedal 17 by the compression spring 39 and the mass body 23 and is electromagnetically driven so that it is lightened by 0 to a predetermined value simultaneously with the performance operation. If the predetermined value is large, it is also possible to make the feeling that the stepping force is zero or less, that is, the foot is sucked from the beginning or at the initial stage. This is the automatic performance mode described later.

  Next, an electrical configuration diagram of the keyboard device 1 having the above-described configuration will be described with reference to FIG. As shown in the figure, the keyboard device 1 is configured by connecting a position sensor 31, a drive control unit 49, a setting operator 50, a memory 51, and the like to a CPU 53 via a bus 52. The CPU 53 operates according to various control programs and controls the entire keyboard device 1. The position sensor 31 detects the position of the pedal 17 as described above, and outputs the detected position information to the CPU 53 via the bus 52. When the actuator unit 6 is electrically connected and receives a command value from the bus 52, the drive control unit 49 supplies a current corresponding to the command value to the coil 28 of the actuator unit 6. To work. The setting operator 50 includes, for example, an operator for performing an operation for the player to select either the manual performance mode or the automatic performance mode, and includes an operator for setting the predetermined value to a specific value. . If it is configured to be linked to the tone, the tone setting operator is also included. The memory 51 is a storage medium such as a ROM, RAM, HDD, or flash memory provided in the keyboard device 1. The memory 51 stores a table showing the relationship between the position of the pedal 17 as shown in FIG. 2B described above and the force in the direction of rotating the pedal 17 generated by the actuator unit 6 to the pushing position. ing.

  Next, the operation of the keyboard device 1 configured as described above will be described below. First, the operation when the manual performance mode is set will be described. In the manual performance mode, the CPU 53 functions as force sense control means and periodically captures the position of the pedal 17 detected by the position sensor 31. Thereafter, the CPU 53 obtains a force to be generated by the actuator unit 6 corresponding to the position of the pedal 17 taken in from the table shown in FIG. 2B stored in the memory 51 and obtains a command value corresponding to the obtained force. It transmits to the drive control part 49. As a result, a force in the direction of pushing the pedal 17 to the push-off position as shown in FIG. Then, a performance reaction force can be applied to the player in a direction to return to the initial position as shown by the solid line in FIG.

  Note that the force generated by the actuator unit 6 is constant after the pedal 17 reaches the push-off position and contacts the upper limit stopper 19, but the reaction force from the upper limit stopper 19 acts on the player as shown in FIG. A reaction force as shown by a one-dot chain line in A) is given. Further, when the performer depresses the pedal 17, the damper bar 11 is pushed up via the thrust bar 4, the core 22, and the shaft 30. When the damper bar 11 is pushed up, the damper 8 moves away from the string 12 as described above.

  Next, the operation when the automatic performance mode is set will be described. In the automatic performance mode, the CPU 53 functions as automatic performance means, drives the actuator unit 6 based on the performance data stored in the memory 51, and causes the actuator unit 6 to rotate the pedal 17 to the push-off position. generate. At this time, the CPU 53 naturally causes the actuator unit 6 to generate a force larger than the force indicated by the dotted line in FIG. As a result, the pedal 17 is driven toward the pressing position.

  According to the above-described embodiment, the load in the direction of returning to the initial position given to the pedal 17 by the mass body 23 and the compression spring 39 is larger than the performance reaction force to be given to the player predetermined according to the position of the pedal 17. Thus, the mass body 23 and the compression spring 39 are provided, and the actuator unit 6 is provided so as to apply a force to the pedal 17 in the direction of turning to the pressing position. As a result, force sense control can be performed by applying force in the direction in which the actuator unit 6 rotates to the push-off position with respect to the pedal 17. For this reason, both the automatic performance and the force sense control can be performed by the one-way drive actuator unit 6 that drives the pedal 17 in the direction of turning to the push-off position, and both automatic performance and force sense control are inexpensive. Can be executed.

  Further, according to the above-described embodiment, the compression spring 39 that biases the pedal 17 in the direction to return to the initial position is provided. Since the compression spring 39 can reduce the load applied to the pedal 17 in the direction of returning to the initial position, the force generated in the actuator unit 6 can be reduced and the cost can be reduced.

  In addition, according to 1st Embodiment mentioned above, it integrated in the live piano and the force sense control of the pedal 17 and the push-up of the damper 8 were performed simultaneously by the actuator unit 6, However, This invention is not limited to this. Absent. For example, by applying to an electronic musical instrument without the damper mechanism 2, only the force sense of the pedal 17 may be performed by the actuator unit 6.

  Further, according to the above-described embodiment, the force control of the pedal 17 and the push-up of the damper 8 are simultaneously performed by driving the core 22 of the actuator unit 6 upward, but the present invention is not limited to this. Absent. For example, the force of the actuator unit 6 is applied to the front side of the fulcrum C3 of the pedal 17, or a reversing mechanism is used between the rear side of the fulcrum C3 of the actuator unit 6 and the pedal 17. Furthermore, if a reversing mechanism is used between the actuator unit and the damper bar 11, the force sense control of the pedal 17 and the push-up of the damper 8 can be performed simultaneously even if the core 22 of the actuator unit 6 is driven downward. When the current flowing through the coil 28 is increased, heat is generated and the tone of the string 12 changes in a live piano. In this case, since the core 22 is driven downward, the core 22 is driven without against gravity. The current flowing through the coil 28 can be reduced. For this reason, a change in the tone of the string 12 due to heat generation can be prevented.

  Further, according to the above-described embodiment, the load in the direction of returning to the initial position is applied to the pedal 17 by both the compression spring 39 and the mass body 23, but the present invention is not limited to this. For example, a load in a direction to return to the initial position may be applied to the pedal 17 only by the mass body 23.

Second Embodiment Next, a second embodiment of the present invention will be described with reference to FIGS. 4, parts that are the same as those already described in the first embodiment with reference to FIG. 1 are given the same reference numerals, and detailed descriptions thereof are omitted. The keyboard device 1 is used for an electronic keyboard instrument, for example. As shown in FIG. 4, the keyboard device 1 includes a performance operator, white keys 14 and black keys 15 as keys, a frame 54, a mass body 23, white keys 14, and black keys 15. The upper limit stopper 19 and the lower limit stopper 20 that restrict the lower limits, and the actuator unit 6 are provided. The white key 14 and the black key 15 are arranged in parallel in the left-right direction. The frame 54 has a height as it approaches the bottom wall 55 disposed on the shelf board 13, the mouth bar wall 56 standing from the front end of the bottom wall 55, and the rear side standing from the rear end of the bottom wall 55. A tapered wall 57 that rises, a bottom wall 58 that is disposed on the shelf plate 13, a standing wall 59 that stands from the front end of the bottom wall 58, and a shelf plate 13 that is provided between the rear end and the standing wall 59 of the tapered wall 57. And a horizontal wall 60 in parallel. The horizontal wall 60 is provided at a position lower than the upper end of the standing wall 59. On the standing wall 59 above the horizontal wall 60 of the frame 54, a key support that supports the rear ends of the white key 14 and the black key 15 so that the white key 14 and the black key 15 can be rotated in the vertical direction. A portion 61 (rotation fulcrum) is provided. The white key 14 and the black key 15 are pivotally supported by the key support portion 61.

  The mass body 23 includes an operating part 62, a rod-like part 63 extending in the front-rear direction, and a mass part 64. The mass body 23 is pivotally supported by a mass body support portion 65 provided on the tapered wall 57 of the frame 54. The front end of the actuating portion 62 is divided into an upper and lower portion, and sandwiches a connecting piece 66 provided at the lower end portion of the action portion 67 protruding downward from the white key 14 and the black key 15. The rod-shaped portion 63 connects the operating portion 62 and a mass portion 64 described later. The mass portion 64 is provided on the rear side of the standing wall 59 and is larger than the rod-shaped portion 63 and applies a load to the white key 14 and the black key 15.

  The upper limit stopper 19 and the lower limit stopper 20 described above are stoppers that abut the mass body 23 and restrict the rotation range of the white key 14 and the black key 15. The upper limit stopper 19 is provided on the lower surface of the horizontal wall 60. When the performer depresses the white key 14, the action portion 67 pushes down the operating portion 62, and the mass body 23 rotates counterclockwise in FIG. 4A with the mass body support portion 65 as the center of rotation. When the rod-like portion 63 of the mass body 23 and the upper limit stopper 19 come into contact with each other, a push-off state is established. On the other hand, the lower limit stopper 20 is provided on the upper surface of the bottom wall 58. When the performer releases the key, the mass body 23 rotates clockwise in FIG. 4A with the mass body support portion 65 as the center of rotation, and the mass portion 64 and the lower limit stopper 20 come into contact with each other at an initial stage. Position.

  The actuator unit 6 is provided on the shelf plate 13 so as to face the mass body support portion 65 side of the rod-shaped portion 63. As shown in FIG. 4B, the actuator unit 6 includes a magnetic frame 27, a coil 28, a core 22, a shaft 30, a position sensor 31, and the like. The difference from the actuator unit 6 of the first embodiment described above is the configuration of the lid 33. The lid 33 is provided in a substantially disc shape and is disposed so as to close the opening of the receiving portion 34 of the yoke 32. The lid 33 is provided with a guide wall 38 erected upward. The guide wall 38 abuts against the core 22 when the core 22 shakes in the front-rear and left-right directions and regulates the front-rear, left-right shake of the core 22 to guide it in the up-down direction. In the actuator unit 6 of the second embodiment, portions other than the lid 33 are the same as those of the first embodiment, and thus detailed description thereof is omitted. These actuator units 6 are provided on the shelf plate 13, and fix the magnetic frame 27 to the shelf plate 13 by screwing the flange portion 35 of the magnetic frame 27 to the shelf plate 13.

  Next, the load which the mass body 23 mentioned above gives to the white key 14 is demonstrated below with reference to FIG. The performance reaction force to be given to the performer according to the position of the white key 14 is as shown by the solid line in FIG. Therefore, from the initial position to the pressing position, the load in the direction in which the mass body 23 indicated by the dotted line returns to the initial position is larger than the performance reaction force to be given to the performer by the white key 14 indicated by the solid line. Thus, the mass body 23 is provided. Then, as shown in FIG. 5B, if the force obtained by subtracting the solid line from the dotted line by the actuator unit 6 is applied to the white key 14 in the direction of turning to the push-off position, the operation shown in FIG. A performance reaction force in the direction of returning to the initial position as indicated by the solid line in A) can be given to the player. Further, the electrical configuration diagram of the keyboard device 1 in the second embodiment is the same as that of the first embodiment described above with reference to FIG. However, a table as shown in FIG. 5B is recorded in the memory 51.

  Next, the operation of the keyboard device 1 configured as described above will be described below. First, the operation when the manual performance mode is set will be described. The CPU 53 periodically captures the position of the white key 14 detected by the position sensor 31. Thereafter, the CPU 53 obtains a force to be generated by the actuator unit 6 corresponding to the position of the white key 14 taken in from the table shown in FIG. 5B stored in the memory 51, and a command value corresponding to the obtained force. Is transmitted to the drive control unit 49. As a result, a force is generated in the actuator unit 6 in the direction of rotating the white key 14 as shown in FIG. Then, in response to the performance operation of the white key 14, a performance reaction force in a direction to return to the initial position as shown by the solid line in FIG.

  Although the force applied from the actuator unit 6 to the white key 14 is constant after the white key 14 contacts the upper limit stopper 19, the reaction force from the upper limit stopper 19 acts to indicate to the performer a one-dot chain line. The performance reaction force is given. In the second embodiment described above, the white key 14 has been described. However, for the black key 15, it is assumed that the white key table is subjected to multiplier processing corresponding to the lever ratio when the white key operation is performed. Sense control is performed. Next, the operation when the automatic performance mode is set will be described. The CPU 53 drives the actuator unit 6 based on the performance data stored in the memory 51, and causes the actuator unit 6 to generate a force in the direction in which the white key 14 and the black key 15 are rotated to the pressing position. At this time, the CPU 53 naturally causes the actuator unit 6 to generate a force larger than the force indicated by the dotted line in FIG. As a result, the white key 14 and the black key 15 are driven toward the pressing position.

  According to the above-described embodiment, the load in the direction of returning to the initial position given to the white key 14 and the black key 15 by the mass body 23 should be given to the player who is predetermined according to the position of the white key 14 and the black key 15. The mass body 23 is provided so as to be larger than the performance reaction force, and the actuator unit 6 is provided so as to apply a force to the white key 14 and the black key 15 in the pushing direction to the pressing position. As a result, the actuator unit 6 can apply force in the direction of pushing the white key 14 and the black key 15 to the push-off position and perform force sense control. For this reason, both the automatic performance and the force sense control can be performed by the actuator unit 6 driven in the direction to push the pedal 17 to the push-off position, and both the automatic performance and the force sense control can be executed at low cost. .

  Further, by providing the actuator unit 6 near the mass body support portion 65 of the mass body 23 as described above, the drive stroke of the actuator unit 6 can be reduced and the degree of freedom of setting is increased.

Third Embodiment Next, a third embodiment of the present invention will be described with reference to FIG. The difference between the second embodiment and the third embodiment is that the configuration of the mass body 23, the configuration of the actuator unit 6, and the compression spring 39 are provided. In the second embodiment, the mass body 23 is provided below the white key 14 and the black key 15, and rotates around the mass body support portion 65 as the white key 14 and the black key 15 rotate. However, the present invention is not limited to this. In the third embodiment, the mass body 23 is disposed in front of the fulcrum C6 of the white key 14 and the black key 15. The actuator unit 6 is disposed on the lower surface of the white key 14 and the black key 15 in front of the fulcrum C6. As in the first and second embodiments, the actuator unit 6 is provided so as to apply a force in a direction in which the white key 14 and the black key 15 are rotated to the pressing position. That is, the actuator unit 6 is provided so as to generate a force that pulls the white key 14 and the black key 15 downward. The actuator unit 6 may also be provided with a compression spring 39 that urges the white key 14 and the black key 15 to return to the initial positions via the actuator unit 6 as in the first embodiment.

  Next, the load which the mass body 23 mentioned above gives to the white key 14 and the black key 15 is demonstrated. The reaction force desired to be generated in the white key 14 and the black key 15 according to the positions of the white key 14 and the black key 15 is as shown by a solid line in FIG. Therefore, the load in the direction in which the mass body 23 and the compression spring 39 always return to the white key 14 and the black key 15 from the initial position to the push-off position returns to the initial position as shown by the solid line in FIG. The mass body 23 and the compression spring 39 are provided so as to be larger than the performance reaction force to be given to the performer by the key 15. Note that the load applied to the white key 14 and the black key 15 by the mass body 23 and the compression spring 39 increases as it approaches the pressing position as shown by the dotted line in FIG. Then, a force obtained by subtracting the performance reaction force to be given to the performer by the white key 14 and the black key 15 from the load applied to the white key 14 and the black key 15 by the mass body 23 and the compression spring 39 by the actuator unit 6 is turned to the pushing position. If the white key 14 and the black key 15 are added in the moving direction, the performance reaction force in the direction of returning to the initial position as shown by the solid line in FIG. Can be given to a person.

Fourth Embodiment Next, a fourth embodiment of the present invention will be described with reference to FIG. The difference between the second embodiment and the fourth embodiment is that the configuration of the mass body 23, the configuration of the actuator unit 6, and the compression spring 39 are provided. In the fourth embodiment, the mass body 23 is disposed on both the front side and the rear side of the fulcrum C6 of the white key 14 and the black key 15. The actuator unit 6 is disposed on the lower surfaces of the white key 14 and the black key 15 in front of the fulcrum C6, as in the third embodiment. As in the first to third embodiments, the actuator unit 6 is provided so as to apply a force in a direction in which the white key 14 and the black key 15 are rotated to the pressing position. That is, the actuator unit 6 is provided so as to generate a force that pulls the white key 14 and the black key 15 downward. The actuator unit 6 may also be provided with a compression spring 39 that urges the white key 14 and the black key 15 to return to the initial positions via the actuator unit 6 as in the first embodiment. The load applied to the white key 14 and the black key 15 by the mass body 23 and the compression spring 39 and the operation of the keyboard device 1 are the same as in the third embodiment, and thus detailed description thereof is omitted here.

Fifth Embodiment Next, a fifth embodiment of the present invention will be described with reference to FIG. The difference between the fourth embodiment and the fifth embodiment is the configuration of the actuator unit 6. In 4th Embodiment, although the actuator unit 6 was arrange | positioned in the lower surface of the white key 14 and the black key 15 ahead of the fulcrum C6, this invention is not limited to this. For example, as shown in FIG. 8, the actuator unit 6 may be disposed on the lower surfaces of the white key 14 and the black key 15 on the rear side of the fulcrum C6. In this case, the actuator unit 6 is provided so as to apply a force in the direction in which the white key 14 and the black key 15 are rotated to the pressing position, as in the first to fourth embodiments. That is, the actuator unit 6 is provided so as to generate a force that pushes the white key 14 and the black key 15 upward.

  In the first to fifth embodiments described above, it is necessary to generate a force on the actuator unit 6 at the initial position (stroke 0), but the present invention is not limited to this. For example, a touch sensor is provided for performance operators such as the pedal 17, the white key 14, and the black key 15, and a force is generated in the actuator unit 6 only when it is detected that the performance operator is operated by the touch sensor. Thus, power saving may be achieved.

  Further, the above-described embodiments are merely representative forms of the present invention, and the present invention is not limited to the embodiments. That is, various modifications can be made without departing from the scope of the present invention.

It is sectional drawing which shows a part of pedal unit and damper mechanism at the time of applying this invention to a grand piano. The dotted line in (A) is a graph showing the relationship between the load applied to the pedal by both the compression spring and the mass body with respect to the pedal position, and the solid line in (A) is the performance to be given to the player with respect to the pedal position. It is a graph which shows the relationship of reaction force, (B) is a graph which shows the force of the direction which rotates the pedal which an actuator unit produces | generates with respect to the position of a pedal to a pushing position. It is an electrical block diagram of the keyboard apparatus shown in FIG. (A) is sectional drawing which shows the keyboard apparatus of this invention in 2nd Embodiment, (B) is sectional drawing of the actuator unit shown to (A). The dotted line in (A) is a graph showing the relationship of the load applied to the white key by the mass body with respect to the position of the white key, and the solid line in (A) is the performance reaction force to be given to the performer with respect to the position of the white key. (B) is a graph showing the force in the direction in which the white key generated by the actuator unit with respect to the position of the white key is rotated to the pressing position. It is a cross-sectional schematic diagram which shows the keyboard apparatus of this invention in 3rd Embodiment. It is the cross-sectional schematic which shows the keyboard apparatus of this invention in 4th Embodiment. It is the cross-sectional schematic which shows the keyboard apparatus of this invention in 5th Embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Keyboard device, 6 ... Actuator unit (actuator), 14 ... White key (performance operator, keyboard), 15 ... Black key (performance operator, keyboard), 17 ... Pedal (performance operator), 23 ... Mass body , 31 ... position sensor (motion detection means), 39 ... compression spring (spring), 53 ... CPU (force control means, automatic performance means), C6 ... fulcrum

Claims (7)

A performance operator that rotates within a range from the initial position to the push-off position with a fulcrum as the player performs a performance operation, a mass body that applies a load to the performance operator, and the operation of the performance operator are detected. An operation detecting means, an actuator for applying a force to the performance operator, and a performance reaction force in a direction to return to the initial position determined in advance according to a detection result from the operation detecting means. In a keyboard device provided with force sense control means for controlling the actuator,
The mass body is configured such that a load in a direction to return to the initial position given to the performance operator is larger than a maximum value of the performance reaction force given to the performer.
The keyboard device according to claim 1, wherein the actuator is provided so as to apply a force in a direction to rotate to the push-off position with respect to the performance operator. A performance operator that rotates within a range from the initial position to the push-off position with a fulcrum as the player performs a performance operation, a mass body that applies a load to the performance operator, and the operation of the performance operator are detected. An operation detecting means, an actuator for applying a force to the performance operator, and a performance reaction force in a direction to return to the initial position determined in advance according to a detection result from the operation detecting means. In a keyboard device provided with force sense control means for controlling the actuator and a spring for biasing the performance operator in a direction to return to the initial position,
The mass body and the spring are arranged such that the load in the direction of returning to the initial position given to the performance operator by both the mass body and the spring is larger than the maximum value of the performance reaction force given to the player. Provided,
The keyboard device according to claim 1, wherein the actuator is provided so as to apply a force in a direction to rotate to the push-off position with respect to the performance operator.   An automatic performance means for performing an automatic performance by controlling the actuator so as to apply a force to the performance operator in a direction of turning to the push-off position according to performance information is provided. The keyboard apparatus according to claim 1 or 2.   The keyboard device according to claim 1, wherein the performance operator includes a keyboard and / or a pedal. The mass body is arranged in front of the fulcrum of the performance operator,
The keyboard device according to any one of claims 1 to 4, wherein the actuator is arranged below the performance operator in front of a fulcrum of the performance operator. The mass body is arranged before and after the fulcrum of the performance operator,
The keyboard device according to any one of claims 1 to 4, wherein the actuator is arranged below the performance operator in front of a fulcrum of the performance operator. The mass body is arranged before and after the fulcrum of the performance operator,
5. The keyboard device according to claim 1, wherein the actuator is arranged below the performance operator behind the fulcrum of the performance operator.

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