EP3892011B1 - Unendliches leitblech mit geringer steifigkeit - Google Patents

Unendliches leitblech mit geringer steifigkeit Download PDF

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Publication number
EP3892011B1
EP3892011B1 EP19809862.6A EP19809862A EP3892011B1 EP 3892011 B1 EP3892011 B1 EP 3892011B1 EP 19809862 A EP19809862 A EP 19809862A EP 3892011 B1 EP3892011 B1 EP 3892011B1
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EP
European Patent Office
Prior art keywords
cam
membrane
axis
box
force
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Active
Application number
EP19809862.6A
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English (en)
French (fr)
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EP3892011A1 (de
Inventor
Eduardo MENDES
Bérenger Roig
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Devialet SA
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Devialet SA
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Publication of EP3892011A1 publication Critical patent/EP3892011A1/de
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    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00Details of transducers, loudspeakers or microphones
    • H04R1/20Arrangements for obtaining desired frequency or directional characteristics
    • H04R1/22Arrangements for obtaining desired frequency or directional characteristics for obtaining desired frequency characteristic only 
    • H04R1/28Transducer mountings or enclosures modified by provision of mechanical or acoustic impedances, e.g. resonator, damping means
    • H04R1/2807Enclosures comprising vibrating or resonating arrangements
    • H04R1/2811Enclosures comprising vibrating or resonating arrangements for loudspeaker transducers
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00Details of transducers, loudspeakers or microphones
    • H04R1/02Casings; Cabinets ; Supports therefor; Mountings therein
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R1/00Details of transducers, loudspeakers or microphones
    • H04R1/42Combinations of transducers with fluid-pressure or other non-electrical amplifying means
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R11/00Transducers of moving-armature or moving-core type
    • H04R11/02Loudspeakers
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R7/00Diaphragms for electromechanical transducers; Cones
    • H04R7/16Mounting or tensioning of diaphragms or cones
    • H04R7/18Mounting or tensioning of diaphragms or cones at the periphery
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R7/00Diaphragms for electromechanical transducers; Cones
    • H04R7/26Damping by means acting directly on free portion of diaphragm or cone
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R9/00Transducers of moving-coil, moving-strip, or moving-wire type
    • H04R9/06Loudspeakers
    • HELECTRICITY
    • H04ELECTRIC COMMUNICATION TECHNIQUE
    • H04RLOUDSPEAKERS, MICROPHONES, GRAMOPHONE PICK-UPS OR LIKE ACOUSTIC ELECTROMECHANICAL TRANSDUCERS; ELECTRIC HEARING AIDS; PUBLIC ADDRESS SYSTEMS
    • H04R2400/00Loudspeakers
    • H04R2400/11Aspects regarding the frame of loudspeaker transducers

Definitions

  • the present invention comprises a closed acoustic enclosure of the type comprising a casing and a loudspeaker comprising a membrane movable relative to the casing, the casing and the membrane delimiting an essentially closed chamber; the loudspeaker comprising an electrically controlled motor for actuating the mobile membrane with respect to the box, the enclosure further comprising a mechanism for axially biasing the membrane away from its median position of rest against the pressure force exerted by the gas contained in the box on the membrane.
  • the sound produced by a loudspeaker is obtained by the displacement of a mobile membrane.
  • This membrane has its own resonant frequency linked to its mass and the stiffness of its suspensions which give it mobility.
  • the force required to move the membrane at constant amplitude oscillatory acceleration is quasi-constant.
  • the force required to move the membrane at constant amplitude oscillatory acceleration increases sharply as the frequency of the oscillatory movements decreases due to the preponderant part of the stiffness of the suspensions. relative to mass.
  • loudspeaker designers have sought to obtain a mechanical resonance frequency of the loudspeaker membrane, with its suspensions, as small as possible because this resonance frequency fixes the low frequency of use of the loudspeaker.
  • the acoustic performance of a loudspeaker in the open air is reduced due to the acoustic short circuit linked to the reciprocal cancellation of the "front" and "rear” waves produced by the loudspeaker membrane.
  • the loudspeakers are most often placed in boxes so that only a single wave produced by the membrane, for example the front wave produced by the front of the membrane, is diffused. The opposite wave is confined within the enclosure.
  • the mechanical resonance frequency of the membrane increases as the internal volume of the box decreases. This is due to the compression/decompression of the air inside the box during the oscillatory movements of the membrane. Indeed, the compression/decompression of the air behaves like a non-linear spring whose stiffness depends on the volume of the box and the amplitude of the displacement of the membrane.
  • loudspeaker manufacturers are forced to use large-sized loudspeakers in order to obtain sound reproduction at low frequencies at high sound volumes because the displacement of the membrane will be all the higher as the frequency of the sound to be reproduced will be low.
  • the document US 2,810,021 describes a loudspeaker in which the membrane is linked to a rod axially biased by helical springs arranged radially and connected to the axial rod by an elastically deformable plate in the form of a cup.
  • US 7,885,418 B1 discloses a very small volume enclosure incorporating a large surface area, shallow and lightweight acoustic diaphragm assembly capable of a natural resonant frequency of a few Hertz. This is achieved by incorporating a vacuum chamber in conjunction with a chamber containing compressed gas or vapor which acts against a moving pressure boundary of variable area mechanically coupled to the acoustic radiation diaphragm.
  • the object of the invention is to provide an acoustic enclosure in which the production of the anti-spring mechanism is facilitated, and in which the value of the force applied by this mechanism is well controlled regardless of the position of the membrane.
  • the subject of the invention is an acoustic loudspeaker according to claim 1 of the aforementioned type, characterized in that the mechanism comprises a cam movable with respect to the box along an axis of displacement of the cam under the displacement action of the membrane and at least one cam follower biased transversely to the cam by at least one spring and resting on the cam, the cam having at least one cam surface capable of converting the transverse force of the or each spring into an axial force on the cam whose the intensity varies according to the position of the cam relative to the box.
  • the loudspeaker 10 illustrated in the figure 1 is a closed enclosure. It comprises a box 12 delimiting an essentially closed chamber 14 separated from the external environment.
  • the box 12 comprises rigid and impermeable walls connected to each other.
  • a calibrated decompression vent 16 is provided through a wall to allow pressure balance between the inside and the outside of the enclosure during slow variations in atmospheric pressure. This decompression vent 16 is small enough to prevent the circulation of air from and towards the chamber 14 during the operation of the enclosure and in particular during the movements of the loudspeaker membrane.
  • the enclosure comprises a loudspeaker 20 comprising a membrane 22 movable through a hole in the box.
  • the membrane 22 locally delimits the chamber 14 and seals the latter.
  • the membrane 12 is connected to the side walls of the box by a deformable seal 24.
  • the loudspeaker comprises a motor 30 with electrical control for actuating the membrane 22 for its movement along an X-X axis.
  • the motor essentially comprises an electromagnet, having a carcass 32 secured to the casing 12 by connecting arms 34 and a winding 36 carried by a mobile assembly 38 at the end of which is carried the membrane 22.
  • the winding 36 is connected, as known per se, to terminals 39 for connecting the acoustic enclosure to an amplifier.
  • the movable assembly 38 is guided relative to the box 12 for movement along the X-X axis by an elastic joint formed of an elastic and breathable corrugated textile plate 41 known as a spider.
  • This textile structure defines air circulation passages to balance the pressures on either side of the spider.
  • the enclosure 10 comprises an anti-spring mechanism 50 acting on the membrane 22 and capable of compensating for the effect of variations in air pressure in the chamber 14 during the movements of the membrane 22.
  • the anti-spring mechanism 50 is an elastic mechanism for axially biasing the membrane 22 away from its median rest position against the pressure force exerted by the air contained in the box on the membrane, that is to say in the direction of movement of the membrane.
  • the mechanism 50 comprises a rod 52, extending along the axis XX, connected, at one end, to the movable assembly 38 carrying the membrane 22 and, at its other end, to a cam 54 movable relative to box 12. Rod 52 is thus driven by movable assembly 38.
  • the rod 52 passes axially through the actuating motor 30 of the loudspeaker.
  • Cam 54 is generally of X-X axis revolution. It has a continuous cam surface of revolution forming in a plane passing through the axis X-X two diametrically opposed cam surfaces 56A, 56B. These cam surfaces are axisymmetric with respect to the X-X axis.
  • the cam 54 is clamped between two cam followers 58A, 58B biased transversely to the X-X axis by springs 60A, 60B maintaining the cam followers in contact with the cam surfaces 56A, 56B.
  • the cam followers 58A, 58B each advantageously comprise a rotary element 62A, 62B such as a roller capable of rolling along the length of the cam surfaces 56A, 56B.
  • the axis of rotation of the rollers extends perpendicular to the X-X axis.
  • the rollers 62A, 62B have a diabolo shape, with a concave surface complementary to the cylindrical surface of the cam 54.
  • Springs 60A, 60B extend transversely of the cam surfaces. They are coaxial with the Y-Y axis secant to the X-X axis. These springs, kept constantly compressed and are supported at one end on the box 12 and at their other end on the axis of the rotary rollers 62A, 62B forming the cam followers.
  • spider 70 provided between the cam 54 and the actuating motor 32 ensures the axial guidance of the rod 52 and the cam 54 to ensure a movement of these along the axis X.X.
  • spider 70 is permeable to gas.
  • the cam surfaces 56A, 56B have in the middle part, along the length of the X-X axis and in section along the path plane of the rollers, a range 72 whose distance from the X-X axis of movement of the cam is locally constant along the X-X axis of cam movement.
  • This range 72 extends over a few tenths of a millimeter along the X-X axis.
  • This middle range 72 is positioned on the cam so that each roller presses on this middle range when the membrane 22 is in the rest position, that is to say in a middle position between the two extreme positions that can be occupied under the motor action 30.
  • the cam surfaces 56A, 56B have areas 74 that are inclined relative to the axis XX.
  • the inclination of these ranges increases as they deviate along the axis XX on either side of this median range so that when the cam followers deviate from the median zone, the angle between the axis XX and the normal to the point of contact of the roller on the cam surface increases so that the force applied to the membrane increases.
  • the distance between the X-X axis and a point on the cam surface decreases away from the middle zone 72.
  • the cam surfaces converge away from the middle zone.
  • the loudspeaker shown in the figure 1 works as follows.
  • membrane 22 moves as known per se.
  • cam 54 driven by the membrane, moves axially relative to cam followers 58A, 58B.
  • the cam followers then exert a force directed along the Y-Y axis towards the X-X axis on the cam surfaces 56A, 56B.
  • These cam surfaces being inclined and maintained along the Y-Y axis between the two rollers, the cam surface is subjected to an axial force, which is applied to the membrane 22 through the rod 52.
  • cam 54 is moved away from the membrane 22. Under the action of the springs 60A, 60B acting at the through cam followers 62A, 62B, cam 54 is biased in its direction of travel.
  • the overpressure in the enclosure 14 acts on the membrane 22 to pull the membrane 22 out of the casing 12.
  • the cam 54 produces a restoring force for the membrane 22 inside the casing.
  • the shape of the cam 54 is adapted so that the sum of the two forces produced by the cam and that resulting from the overpressure in the chamber 14 cancels out practically at any point of the cam or is equal to a desired value at all. cam point.
  • the shape of the cam surface makes it possible to transform part of a force F Rz exerted by the springs 60A and 60B along the axis YY into a force F Rx along the axis XX.
  • the surface of the cam having a range 72 whose distance from the axis XX of movement of the cam is locally constant along the axis XX of cam travel.
  • the cam surface is such that the force F Rx along the axis XX applied by the cam to the membrane 22 via the rod 52 is zero.
  • the rollers bear on the middle range of the surface of the cam 54 which is parallel to the axis XX.
  • the membrane 22 undergoes, during its movement, a force F Rx , via the rod 52, along the axis XX in the same direction as that of the movement. .
  • the magnitude of this force depends on the angle formed by the surface of the cam 54 with the axis XX at the point of contact of the rollers 62A, 62B.
  • the stiffness K R ( x ) is negative because it produces a force in the same direction as the displacement of the membrane.
  • the force F T opposes the displacement of the mobile assembly Force towards the right with positive displacement of the moving assembly to the left.
  • Cam profile 4 is given by the function expressing y BC as a function of x BC .
  • K min ⁇ K m ( x ) + K air ( x ) makes it possible to choose the value of the mechanical resonance frequency F AR of the loudspeaker placed in a closed box.
  • F AR the mechanical resonance frequency
  • the value of F AR will be between 30 Hz and 50 Hz.
  • the additional mass M AR provided by the anti-spring mechanism is reduced as much as possible in order to minimize the force, and therefore the current, necessary to move the membrane above above the resonant frequency.
  • the cam 54 is not connected to the movable assembly by a rod 52.
  • the cam 54 is connected to a movable wall 102, separating in the box 12, the closed chamber 14 in a front chamber 104 partially delimited by the membrane 22 and the movable wall 102 and a rear chamber 106 delimited by the walls of the box 12 and by the movable wall 102.
  • the movable wall 102 is a rigid and impermeable wall connected to the walls of the box 12 by a flexible joint 108 impermeable to gas.
  • the wall 102 extends perpendicular to the axis X-X of movement of the cam 54.
  • the same rear chamber 106 is provided for two or more than two loudspeakers, the membranes of which delimit the same front chamber 104 separated from the rear chamber in a single wall 102.
  • a calibrated decompression vent 114, 116 connects the front chamber 104 and the rear chamber 106 to the external environment. These vents are small enough to prevent the circulation of air during the movement of the membrane 22 but are suitable for ensuring equalization of the pressures between the exterior and the interior of the box during variations in atmospheric pressure.
  • the wall 102 moves due to the depression or the compression in the front chamber 104.
  • the cam 54 is moved and produces, under the action of the cam followers 58A, 58B, a force applied to the wall 102.
  • This force is contrary to the effect of the pressure acting on this same wall 102 and therefore oriented in the direction of movement of the wall 102.
  • This force is transmitted to the membrane 22 through the gas trapped in the front chamber 104.
  • the stiffness of the compression of the gas in the front chamber 104 is compensated by the force applied by the cam 56 of the axial biasing mechanism 50.
  • the profile of the cam 54 is identical to the profile described with regard to the preceding figures.
  • the cam 54 is clamped between rollers 202A, 202B, 202C, regularly angularly distributed around the axis XX. These rollers are carried at the free end of elastic arms 204A, 204B, 204C. These elastic arms are each fixed at their other end to a rigid structure 206, itself secured to the box 14.
  • the arms 204A, 204B, 204C extend perpendicular to the X-X axis in the same plane. They are offset transversely with respect to the X-X axis.
  • the rollers 202A, 202B, 202C are rotatably mounted in the extension of the axis of the arms 204A, 204B, 204C respectively, and along the axis of the arms. They are suitable for rolling along the surface of the cam 54 along the X-X axis.
  • the arms 204A, 204B, 204C are prestressed so as to ensure permanent contact between the rollers 202A, 202B, 202C and the cam 54, whatever the position of the rollers along the length of the cam 54 considered along the axis X-X.
  • the presence of three rotating elements angularly distributed around the X-X axis ensures satisfactory guiding of the cam 54 along the X-X axis.
  • the presence of prestressed elastic arms that are deformable in bending ensures a relatively constant force of the rollers 202A, 202B, 202C on the cam, whatever their position and prevents the rollers from locking.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Acoustics & Sound (AREA)
  • Signal Processing (AREA)
  • Multimedia (AREA)
  • Health & Medical Sciences (AREA)
  • Otolaryngology (AREA)
  • Electromagnetism (AREA)
  • Audible-Bandwidth Dynamoelectric Transducers Other Than Pickups (AREA)
  • Reciprocating Pumps (AREA)
  • Details Of Audible-Bandwidth Transducers (AREA)

Claims (10)

  1. Geschlossene Lautsprecherbox (10), umfassend ein Gehäuse (12) und einen Lautsprecher (20), umfassend eine in Bezug auf das Gehäuse (12) bewegliche Membran (22), wobei das Gehäuse (12) und die Membran (22) eine im Wesentlichen geschlossene Kammer (14) begrenzen; der Lautsprecher (20) umfassend einen Motor (30) mit elektrischer Steuerung zur Betätigung der in Bezug auf das Gehäuse (12) beweglichen Membran (22), die Box ferner umfassend einen Mechanismus (50) zur axialen Belastung der Membran (22) aus ihrer mittleren Ruhestellung heraus entgegen der Druckkraft, die von dem im Kasten (12) enthaltenen Gas auf die Membran (22) ausgeübt wird, dadurch gekennzeichnet, dass der Mechanismus (50) einen Nocken (54), der in Bezug auf das Gehäuse (12) entlang einer Bewegungsachse (X-X) des Nockens unter der Verschiebungswirkung der Membran (22) beweglich ist, und mindestens einen Nockenfolger (58A, 58B; 200A, 200B, 200C), der quer zu dem Nocken (54) durch mindestens eine Feder (60A, 60B) belastet wird und an dem Nocken (54) anliegt, wobei der Nocken (54) mindestens eine Nockenfläche (56A, 56B) aufweist, die geeignet ist, um die Querkraft der oder jeder Feder (60A, 60B) in eine Axialkraft auf den Nocken (54) umzuwandeln, deren Stärke sich abhängig von der Position des Nockens (54) in Bezug auf das Gehäuse (12) ändert.
  2. Lautsprecherbox nach Anspruch 1, dadurch gekennzeichnet, dass der Nocken (54) über einen Stift (52), der sich entlang der Bewegungsachse (X- X) der Membran (22) erstreckt, mit der Membran (22) des Lautsprechers verbunden ist.
  3. Box nach Anspruch 2, dadurch gekennzeichnet, dass sie eine elastische Führungsverbindung (70) umfasst, die den Stift (52) mit dem Gehäuse (12) verbindet.
  4. Box nach Anspruch 1, dadurch gekennzeichnet, dass der Nocken (54) mit einer in Bezug auf das Gehäuse (12) beweglichen Wand (102) verbunden ist, wobei die bewegliche Wand (102) mit dem Gehäuse (12) eine im Wesentlichen geschlossene hintere Kammer (106) und eine im Wesentlichen geschlossene vordere Kammer (104) begrenzt, die teilweise durch die Membran (22) des Lautsprechers abgegrenzt wird.
  5. Box nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Nocken (54) mindestens zwei Nockenflächen (56A, 56B) umfasst, die winklig um die Bewegungsachse (X-X) des Nockens verteilt sind, und dass der Mechanismus (50) zur axialen Belastung der Membran (12) für jede Nockenfläche einen Nockenfolger (58A, 58B; 200A, 200B, 200C) aufweist, der in Richtung der Achse (X-X) der Nockenbewegung vorgespannt sind, und wobei der Nocken (54) zwischen den Nockenfolgern (58A, 58B; 200A, 200B, 200C) eingespannt ist.
  6. Box nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der oder jeder Nockenfolger (58A, 58B; 200A, 200B, 200C) ein Drehelement (62A, 62B) umfasst, das geeignet ist, um auf dem Nocken (54) zu rollen.
  7. Box nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der oder jeder Nockenfolger (200A, 200B, 200C) von einem vorgespannten elastischen Arm (204A, 204B, 204C) getragen wird, der sich in einer Ebene quer zur Achse (X-X) erstreckt.
  8. Box nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Nocken (54) einen Bereich (72) aufweist, dessen Abstand von der Bewegungsachse (X-X) des Nockens (54) entlang der Bewegungsachse (X-X) des Nockens 54 örtlich konstant ist, wobei dieser Bereich (72) in Kontakt mit dem oder jedem Nockenfolger (58A, 58B; 200A, 200B, 200C) ist, wenn die Membran (22) in Ruhestellung ist, sodass in dieser Ruhestellung der Membran (22) durch den Nocken (54) keine Kraft auf die Membran (22) ausgeübt wird.
  9. Box nach einem der vorherigen Ansprüche, dadurch gekennzeichnet, dass der Nocken (54) einen Bereich (74) umfasst, der in Bezug auf die Bewegungsachse (X-X) des Nockens (52) geneigt ist.
  10. Box nach Anspruch 9, dadurch gekennzeichnet, dass die Neigung der Nockenfläche entlang des geneigten Bereichs (74) entlang der Bewegungsachse (X-X) des Nockens weg von der Kontaktzone mit dem Nockenfolger allmählich zunimmt, wenn die Membran (22) in Ruhestellung ist, sodass der Nocken (54) eine Kraft mit zunehmender Stärke auf die Membran (22) ausübt, je weiter die Membran (22) von ihrer Ruhestellung wegbewegt wird.
EP19809862.6A 2018-12-03 2019-12-03 Unendliches leitblech mit geringer steifigkeit Active EP3892011B1 (de)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
FR1872229A FR3089381B1 (fr) 2018-12-03 2018-12-03 Enceinte close à faible raideur
PCT/EP2019/083498 WO2020115044A1 (fr) 2018-12-03 2019-12-03 Enceinte close à faible raideur

Publications (2)

Publication Number Publication Date
EP3892011A1 EP3892011A1 (de) 2021-10-13
EP3892011B1 true EP3892011B1 (de) 2022-12-14

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US (1) US11770648B2 (de)
EP (1) EP3892011B1 (de)
CN (1) CN113196799B (de)
FR (1) FR3089381B1 (de)
WO (1) WO2020115044A1 (de)

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US20190327552A1 (en) * 2017-11-27 2019-10-24 Leib Morosow Negative stiffness and low freqency speakers and other acoustics
WO2023274399A1 (en) * 2021-07-02 2023-01-05 Sonos, Inc. Systems and methods for stabilizing playback device
US20250220356A1 (en) * 2021-07-02 2025-07-03 Sonos, Inc. Systems and methods for stabilizing a playback device
IT202200026061A1 (it) * 2022-12-20 2024-06-20 Powersoft S P A Altoparlante e metodo per diffondere un suono.

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US11770648B2 (en) 2023-09-26
WO2020115044A1 (fr) 2020-06-11
FR3089381A1 (fr) 2020-06-05
EP3892011A1 (de) 2021-10-13
CN113196799B (zh) 2024-09-20
US20220030351A1 (en) 2022-01-27
CN113196799A (zh) 2021-07-30
FR3089381B1 (fr) 2020-10-30

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