Tensionless winding and unwinding method and system for mobile devices with their own cable

Abstract

The application discloses a mobile device self-cable tensionless winding and unwinding method and a winding and unwinding system. The winding and unwinding system comprises a cable winding and unwinding mechanism, a cable reel mechanism, a meter counter, a guide wheel, a spring tube, a displacement sensor, a controller and a cable. The cable is wound on the cable reel mechanism and is stretched out by the cable winding and unwinding mechanism after the meter counter and the guide wheel. One end of the spring tube is fixed, and the other end is connected with the guide wheel. In the initial state, the cable presses the guide wheel to make the spring tube in the compressed state. The displacement sensor is used for detecting the length change of the spring tube. The controller is connected with the cable winding and unwinding mechanism, the cable reel mechanism, the meter counter and the displacement sensor. The mobile device self-cable tensionless winding and unwinding method and the winding and unwinding system can realize accurate tensionless cable winding and unwinding control through real-time detection and correction, improve the freedom and automation degree of the cable winding and unwinding, and prolong the service life of the cable.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of cable winding and unwinding in mobile device power supply system, and particularly provides a tension-free winding and unwinding method and system for mobile device with cable. BACKGROUND

[0002] With the development of science and technology in China, the fields of industry and service are gradually upgrading from automation to intelligence, and intelligent manufacturing and intelligent service will inevitably become a new development stage of production and life. In this development stage, mobile devices such as industrial robots and service robots are one of the important implementation ends, which realize intelligent production and life service by using the technologies of Internet of Things, artificial intelligence and control theory, and have great significance and role in promoting the development of industrial technology and the improvement of people's living standards.

[0003] Mobile devices such as industrial robots and service robots, such as cleaning vehicle robots, require high-power power supply to support the work of the robots and have no sufficient battery carrying space, and the related power supply system cables also need to be wound and unwound according to the movement of the devices. There are two existing cable winding and unwinding methods: one is to set a slide on the top of the working area to hang the cable on the slide to follow the movement of the robot for dragging or to use a winch or other device for dragging, which is only suitable for linear reciprocating moving devices and is not suitable for complex moving paths and non-linear walking; the other is manual dragging, which has the problems of low efficiency, unsafe power supply, high labor intensity, easy cable damage and the like.

[0004] Therefore, it is an urgent problem to provide a new automatic cable winding and unwinding system and method which can be used in complex working conditions (non-linear reciprocating movement), is efficient, safe, liberates labor, and is not easy to damage the cable. SUMMARY

[0005] In view of this, the present application aims to provide a tension-free winding and unwinding method and system for mobile device with cable to solve the problems existing in the existing cable winding and unwinding method.

[0006] The present application provides a mobile device self-cable tensionless winding and unwinding system in one aspect, which is installed on a mobile device and comprises a cable winding and unwinding mechanism, a cable drum mechanism, a metering device, a guide wheel, a spring tube, a displacement sensor, a controller and a cable.

[0007] Preferably, the cable winding and unwinding mechanism comprises a first driving device, a rubber wheel, a wire guide wheel and a compression spring, wherein the rubber wheel is fixedly arranged and driven to rotate by the first driving device, the wire guide wheel is arranged correspondingly to the rubber wheel, and the compression spring has one end fixed and the other end connected to the wire guide wheel for pressing the cable between the rubber wheel and the wire guide wheel.

[0008] Further preferably, the rubber wheel and the wire guide wheel are correspondingly provided with multiple groups.

[0009] Further preferably, the cable drum mechanism comprises a second driving device and a drum, and the second driving device is connected to the drum for driving the drum to rotate.

[0010] The present application also provides a mobile device self-cable tensionless winding and unwinding method, which utilizes the above-mentioned mobile device self-cable tensionless winding and unwinding system and comprises the following steps:

[0011] Obtaining the running state information of the mobile device, wherein the running state information comprises information that the mobile device is currently in a forward or backward state;

[0012] Controlling the cable winding and unwinding mechanism and the cable drum mechanism to wind or unwind the cable according to the running state information of the mobile device, wherein when the mobile device is in the forward state, the cable winding and unwinding mechanism and the cable drum mechanism are controlled to be in the unwinding state, and when the mobile device is in the backward state, the cable winding and unwinding mechanism and the cable drum mechanism are controlled to be in the winding state.

[0013] acquiring the cable length data measured by the cable meter and the length change data of the spring tube detected by the displacement sensor;

[0014] adjusting the cable winding and unwinding speed of the cable winding and unwinding mechanism in real time according to the cable length data measured by the cable meter and adjusting the cable winding and unwinding speed of the cable drum mechanism in real time according to the length change data of the spring tube detected by the displacement sensor, so that the length of the cable wound and unwound by the cable winding and unwinding mechanism, the length of the cable wound and unwound by the cable drum mechanism and the distance of the mobile device are consistent.

[0015] Preferably, the initial cable winding and unwinding speed of the cable winding and unwinding mechanism and the cable drum mechanism is determined according to the starting speed of the mobile device.

[0016] Further preferably, the method of adjusting the cable winding and unwinding speed of the cable winding and unwinding mechanism in real time according to the cable length data measured by the cable meter is as follows:

[0017] comparing the cable length a measured by the cable meter and the distance b of the mobile device;

[0018] if a > b, reducing the cable winding speed or the cable unwinding speed of the cable winding and unwinding mechanism, if a < b, increasing the cable winding speed or the cable unwinding speed of the cable winding and unwinding mechanism, and if a = b, keeping the cable winding speed or the cable unwinding speed of the cable winding and unwinding mechanism.

[0019] Further preferably, the process of adjusting the cable winding and unwinding speed of the cable drum mechanism in real time according to the length change data of the spring tube detected by the displacement sensor is as follows:

[0020] acquiring the displacement change of the spring tube detected by the displacement sensor;

[0021] if the length of the spring tube is longer than the length at the initial state, controlling the cable drum mechanism to increase the cable winding speed or reduce the cable unwinding speed, if the length of the spring tube is shorter than the length at the initial state, controlling the cable drum mechanism to reduce the cable winding speed or increase the cable unwinding speed, and if the length of the spring tube is equal to the length at the initial state, keeping the cable winding speed or the cable unwinding speed of the cable drum mechanism.

[0022] The mobile device self-cable tensionless winding and unwinding method and system provided by the application can measure the length of the cable passing through the metering device, the data measured by the metering device can reflect the length of the cable wound and unwound by the mobile device self-cable tensionless winding and unwinding system, the length change of the spring tube can be detected by the displacement sensor, the length change of the spring tube can reflect the length change of the cable between the cable winding and unwinding mechanism and the cable drum mechanism, the data measured by the metering device can be used to adjust the winding and unwinding speed of the cable winding and unwinding mechanism in real time, the length of the wound and unwound cable can be corrected to be consistent with the advancing distance of the mobile device, the length change data of the spring tube detected by the displacement sensor can be used to adjust the winding and unwinding speed of the cable drum mechanism in real time, the length of the wound and unwound cable of the cable winding and unwinding mechanism and the length of the wound and unwound cable of the cable drum mechanism can be consistent, and finally the length of the wound and unwound cable of the cable winding and unwinding mechanism, the length of the wound and unwound cable of the cable drum mechanism and the advancing and retreating distance of the mobile device can be dynamically consistent, i.e., tensionless winding and unwinding.

[0023] The mobile device self-cable tensionless winding and unwinding method and system provided by the application can measure the length of the cable passing through the metering device, the data measured by the metering device can reflect the length of the cable wound and unwound by the mobile device self-cable tensionless winding and unwinding system, the length change of the spring tube can be detected by the displacement sensor, the length change of the spring tube can reflect the length change of the cable between the cable winding and unwinding mechanism and the cable drum mechanism, the data measured by the metering device can be used to adjust the winding and unwinding speed of the cable winding and unwinding mechanism in real time, the length of the wound and unwound cable can be corrected to be consistent with the advancing distance of the mobile device, the length change data of the spring tube detected by the displacement sensor can be used to adjust the winding and unwinding speed of the cable drum mechanism in real time, the length of the wound and unwound cable of the cable winding and unwinding mechanism and the length of the wound and unwound cable of the cable drum mechanism can be consistent, and finally the length of the wound and unwound cable of the cable winding and unwinding mechanism, the length of the wound and unwound cable of the cable drum mechanism and the advancing and retreating distance of the mobile device can be dynamically consistent, i.e., tensionless winding and unwinding. BRIEF DESCRIPTION OF DRAWINGS

[0024] The application will be further described in detail below in combination with the drawings and embodiments:

[0025] Figure 1 The structure diagram of the mobile device self-cable tensionless winding and unwinding system provided by the application. DETAILED DESCRIPTION

[0026] The application will be further described in detail below in combination with the drawings and embodiments:

[0027] In order to solve the problems of low efficiency, unsafe power supply, high labor intensity and easy cable damage of the existing mobile device self-cable winding and unwinding method, like Figure 1As shown, the present application provides a mobile device with cable tensionless winding and unwinding system, which is installed on the mobile device and comprises a cable winding and unwinding mechanism 1, a cable drum mechanism 2, a meter counter 3, a guide wheel 4, a spring tube 5, a displacement sensor 6, a controller and a cable 7. The meter counter 3 and the guide wheel 4 are arranged between the cable drum mechanism 2 and the cable winding and unwinding mechanism 1. The cable 7 is wound on the cable drum mechanism 2 and is stretched out by the cable winding and unwinding mechanism 1 after passing through the meter counter 3 and the guide wheel 4. The meter counter 3 is used to measure the length of the cable passing through it. One end of the spring tube 5 is fixed, and the other end is connected with the guide wheel 4. In the initial state, the cable 7 presses the guide wheel 4 to make the spring tube 5 in the compressed state. The displacement sensor 6 is arranged on one side of the spring tube 5 and is used to detect the length change of the spring tube 5. The controller is connected with the cable winding and unwinding mechanism 1, the cable drum mechanism 2, the meter counter 3 and the displacement sensor 6, and is used to adjust the winding and unwinding speed of the cable winding and unwinding mechanism 1 in real time according to the measurement data of the meter counter 3, and is also used to adjust the winding and unwinding speed of the cable drum mechanism 2 in real time according to the detection data of the displacement sensor 6, so as to realize that the length of the cable wound and unwound by the cable winding and unwinding mechanism 1, the length of the cable wound and unwound by the cable drum mechanism 2 and the advancing and retreating distance of the mobile device are consistent. The meter counter 3 can be arranged between the guide wheel and the cable drum mechanism (as shown in Figure 1 ).

[0028] The mobile device with cable tensionless winding and unwinding system can measure the length of the cable passing through the meter counter by the meter counter. The data measured by the meter counter can reflect the length of the cable wound and unwound by the mobile device with cable tensionless winding and unwinding system. The length change of the spring tube can be detected by the displacement sensor. The length change of the spring tube can reflect the length change of the cable between the cable winding and unwinding mechanism and the cable drum mechanism. The winding and unwinding speed of the cable winding and unwinding mechanism can be adjusted in real time by the data measured by the meter counter, so as to correct the winding and unwinding length of the cable and make it consistent with the advancing distance of the mobile device. The winding and unwinding speed of the cable drum mechanism can be adjusted in real time by the length change data of the spring tube detected by the displacement sensor, so as to make the length of the cable wound and unwound by the cable winding and unwinding mechanism consistent with the length of the cable wound and unwound by the cable drum mechanism. Finally, the length of the cable wound and unwound by the cable winding and unwinding mechanism, the length of the cable wound and unwound by the cable drum mechanism and the advancing and retreating distance of the mobile device are dynamically consistent, that is, tensionless winding and unwinding.

[0029] As an improvement of the technical scheme, Figure 1As shown, the cable winding and unwinding mechanism 1 comprises a first driving device (not labeled in the figure), a rubber wheel 11, a wire wheel 12 and a compression spring 13, wherein the rubber wheel 11 is fixedly arranged and driven to rotate by the first driving device, the wire wheel 12 is arranged correspondingly to the rubber wheel 11, and the compression spring 13 is fixed at one end and connected to the wire wheel 12 at the other end, for pressing the cable 7 between the rubber wheel 11 and the wire wheel 12, and the cable can be wound and unwound under the friction of the rotating rubber wheel, wherein the first driving device can only drive the rubber wheel to rotate, and can be, but is not limited to, the linkage structure of the motor, gear and chain / belt as shown. Figure 1 As shown, the motor, gear and chain / belt linkage structure, but not limited to the above structure.

[0030] In order to ensure the clamping effect of the rubber wheel and the wire wheel on the cable and improve the consistency of the length of the wound and unwound cable and the movement distance of the rubber wheel, as a technical improvement, Figure 1 As shown, the rubber wheel 11 and the wire wheel 12 are correspondingly provided with a plurality of groups.

[0031] As a technical improvement, Figure 1 As shown, the cable drum mechanism 2 comprises a second driving device (not shown in the figure) and a drum 21, the second driving device is connected to the drum 21 for driving the drum 21 to rotate, and the second driving device can only drive the drum to rotate, and can be, but is not limited to, the linkage structure of the motor, gear and chain / belt as shown in the above. Figure 1 As shown, the motor, gear and chain / belt linkage structure, but not limited to the above structure.

[0032] The application also provides a mobile device self-cable tension-free winding and unwinding method, which utilizes the above-mentioned mobile device self-cable tension-free winding and unwinding system, and comprises the following steps:

[0033] Obtaining the running state information of the mobile device, wherein the running state information comprises information that the mobile device is currently in a forward or backward state;

[0034] Controlling the cable winding and unwinding mechanism 1 and the cable drum mechanism 2 to wind or unwind the cable according to the running state information of the mobile device, wherein when the mobile device is in a forward state, the cable winding and unwinding mechanism 1 and the cable drum mechanism 2 are controlled to be in an unwinding state, and when the mobile device is in a backward state, the cable winding and unwinding mechanism 1 and the cable drum mechanism 2 are controlled to be in a winding state, preferably, the initial winding and unwinding speed of the cable winding and unwinding mechanism 1 and the cable drum mechanism 2 entering the winding or unwinding state is determined according to the starting speed of the mobile device, so that the linear speed of the cable winding and unwinding mechanism 1 and the cable drum mechanism 2 and the linear speed of the movement of the mobile device tend to be consistent or consistent;

[0035] The cable length data measured by the metering device 3 and the length change data of the spring tube 5 detected by the displacement sensor 6 are acquired;

[0036] The cable feeding and releasing speed of the cable feeding and releasing mechanism 1 is adjusted in real time according to the cable length data measured by the metering device 3, and the cable feeding and releasing speed of the cable drum mechanism 2 is adjusted in real time according to the length change data of the spring tube 5 detected by the displacement sensor 6, so that the length of the cable fed and released by the cable feeding and releasing mechanism 1, the length of the cable fed and released by the cable drum mechanism 2, and the advancing and retreating distance of the mobile device are kept consistent.

[0037] The tension-free feeding and releasing method of the cable of the mobile device, the cable length can be measured by the metering device, the data measured by the metering device can reflect the length of the cable fed and released by the tension-free feeding and releasing system of the cable of the mobile device, the length change of the spring tube can be detected by the displacement sensor, the length change of the spring tube can reflect the length change of the cable between the cable feeding and releasing mechanism and the cable drum mechanism, the data measured by the metering device is used to adjust the cable feeding and releasing speed of the cable feeding and releasing mechanism in real time, which can correct the cable feeding and releasing length and make it consistent with the advancing distance of the mobile device, the length change data of the spring tube detected by the displacement sensor is used to adjust the cable feeding and releasing speed of the cable drum mechanism in real time, which can make the length of the cable fed and released by the cable feeding and releasing mechanism consistent with the length of the cable fed and released by the cable drum mechanism, and finally realize the dynamic consistency of the length of the cable fed and released by the cable feeding and releasing mechanism, the length of the cable fed and released by the cable drum mechanism, and the advancing and retreating distance of the mobile device, that is, tension-free feeding and releasing.

[0038] As an improvement of the technical solution, the method of adjusting the cable feeding and releasing speed of the cable feeding and releasing mechanism in real time according to the cable length data measured by the metering device 3 is as follows:

[0039] The cable length a measured by the metering device 3 is compared with the advancing distance b of the mobile device;

[0040] If a > b, the cable feeding speed or releasing speed of the cable feeding and releasing mechanism 1 is reduced, if a < b, the cable feeding speed or releasing speed of the cable feeding and releasing mechanism 1 is increased, and if a = b, the cable feeding speed or releasing speed of the cable feeding and releasing mechanism 1 is kept.

[0041] In the above process, the length of the cable fed and released can be measured by the metering device, and whether the length of the cable fed and released is consistent with the advancing distance of the mobile device can be judged by comparing the length measured by the metering device with the advancing distance of the mobile device, and if not, the error between the length of the cable fed and released and the advancing distance of the mobile device can be dynamically eliminated by adjusting the speed of the cable feeding and releasing mechanism.

[0042] Specifically: when winding, if a > b, it means that the winding length is greater than the travel distance of the mobile device, at this time, the cable on the ground is in tension, the winding speed of the cable winding and unwinding mechanism should be reduced, if a < b, it means that the winding length is less than the travel distance of the mobile device, at this time, the cable on the ground is in bending, the winding speed of the cable winding and unwinding mechanism should be reduced, if a = b, it means that the winding length is equal to the travel distance of the mobile device, at this time, the cable is recovered without tension, and the winding speed of the cable winding and unwinding mechanism does not need to be adjusted.

[0043] When unwinding, if a > b, it means that the unwinding length is greater than the travel distance of the mobile device, at this time, the cable on the ground is in bending, the unwinding speed of the cable winding and unwinding mechanism should be reduced, if a < b, it means that the unwinding length is less than the travel distance of the mobile device, at this time, the cable on the ground is in tension, the unwinding speed of the cable winding and unwinding mechanism should be reduced, if a = b, it means that the unwinding length is equal to the travel distance of the mobile device, at this time, the cable is unwound without tension, and the unwinding speed of the cable winding and unwinding mechanism does not need to be adjusted.

[0044] As an improvement of the technical scheme, the process of adjusting the winding and unwinding speed of the cable drum mechanism 2 in real time according to the length change data of the spring tube 5 detected by the displacement sensor 6 is as follows:

[0045] Obtain the displacement change of the spring tube 5 detected by the displacement sensor 6;

[0046] If the length of the spring tube 5 is elongated compared with the length in the initial state, control the cable drum mechanism 2 to increase the winding speed or reduce the unwinding speed, if the length of the spring tube 5 is shortened compared with the length in the initial state, control the cable drum mechanism 2 to reduce the winding speed or increase the unwinding speed, if the length of the spring tube 5 is equal to the length in the initial state, keep the winding speed or unwinding speed of the cable drum mechanism 2.

[0047] In the above process, whether the winding and unwinding length of the cable drum mechanism corresponds to keep consistent with the winding and unwinding length through the cable winding and unwinding mechanism can be known through the displacement sensor, if consistent, the displacement amount of the spring tube obtained through the displacement sensor does not change, otherwise, a change will be generated, according to the change of the displacement sensor, by adjusting the speed of the cable drum mechanism, the error between the winding and unwinding length of the cable drum mechanism and the winding and unwinding length through the cable winding and unwinding mechanism can be dynamically eliminated.

[0048] Specifically: when the length of the spring tube 5 is elongated compared with the length in the initial state, it indicates that the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism is elongated, at this time, the cable drum mechanism 2 is controlled to increase the winding speed, shorten the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism, and make it consistent with the length in the initial state, if the length of the spring tube 5 is shortened compared with the length in the initial state, it indicates that the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism is shortened, at this time, the cable drum mechanism 2 is controlled to decrease the winding speed, increase the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism, and make it consistent with the length in the initial state, if the length of the spring tube 5 is equal to the length in the initial state, the winding speed of the cable drum mechanism 2 is kept;

[0049] When the cable is unwound, if the length of the spring tube 5 is elongated compared with the length in the initial state, it indicates that the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism is elongated, at this time, the cable drum mechanism 2 is controlled to increase the unwinding speed, shorten the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism, and make it consistent with the length in the initial state, if the length of the spring tube 5 is shortened compared with the length in the initial state, it indicates that the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism is shortened, at this time, the cable drum mechanism 2 is controlled to increase the unwinding speed, increase the length of the cable between the cable winding and unwinding mechanism and the cable drum mechanism, and make it consistent with the length in the initial state, if the length of the spring tube 5 is equal to the length in the initial state, the unwinding speed of the cable drum mechanism 2 is kept.

[0050] The detailed description of the application is written in a progressive manner, and the differences between various embodiments are emphasized, and the similar parts can be referred to each other.

[0051] The embodiments of the application are described in detail above with reference to the drawings, but the application is not limited to the above-described embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the purpose of the application.

Claims

1. A method for untensioned retraction of a mobile device's own cable, characterized by: The application discloses a mobile device self-cable tensionless winding and unwinding system, which is installed on a mobile device and comprises a cable winding and unwinding mechanism (1), a cable winding drum mechanism (2), a meter counter (3), a guide wheel (4), a spring tube (5), a displacement sensor (6), a controller and a cable (7). The meter counter (3) and the guide wheel (4) are arranged between the cable winding drum mechanism (2) and the cable winding and unwinding mechanism (1). The cable (7) is wound on the cable winding drum mechanism (2) and is stretched out from the cable winding and unwinding mechanism (1) through the meter counter (3) and the guide wheel (4). The meter counter (3) is used for metering the cable length. One end of the spring tube (5) is fixed, and the other end is connected with the guide wheel (4). In the initial state, the cable (7) presses the guide wheel (4) to compress the spring tube (5). The displacement sensor (6) is arranged on one side of the spring tube (5) and is used for detecting the length change of the spring tube (5). The controller is connected with the cable winding and unwinding mechanism (1), the cable winding drum mechanism (2), the meter counter (3) and the displacement sensor (6) and is used for adjusting the cable winding and unwinding speed of the cable winding and unwinding mechanism (1) according to the metering data of the meter counter (3) and adjusting the cable winding and unwinding speed of the cable winding drum mechanism (2) according to the detection data of the displacement sensor (6), so that the cable winding and unwinding length of the cable winding and unwinding mechanism (1), the cable winding and unwinding length of the cable winding drum mechanism (2) and the advancing and retreating distance of the mobile device are kept consistent. The application further discloses a mobile device self-cable tensionless winding and unwinding method, which comprises the following steps: obtaining the advancing state information of the mobile device, wherein the advancing state information comprises information that the mobile device is currently in the advancing or retreating state; controlling the cable winding and unwinding mechanism (1) and the cable winding drum mechanism (2) to wind or unwind the cable according to the advancing state information of the mobile device, wherein when the mobile device is in the advancing state, the cable winding and unwinding mechanism (1) and the cable winding drum mechanism (2) are controlled to be in the unwinding state, and when the mobile device is in the retreating state, the cable winding and unwinding mechanism (1) and the cable winding drum mechanism (2) are controlled to be in the winding state; obtaining the cable length data metered by the meter counter (3) and the length change data of the spring tube (5) detected by the displacement sensor (6); adjusting the cable winding and unwinding speed of the cable winding and unwinding mechanism (1) according to the cable length data metered by the meter counter (3) and adjusting the cable winding and unwinding speed of the cable winding drum mechanism (2) according to the length change data of the spring tube (5) detected by the displacement sensor (6), so that the cable winding and unwinding length of the cable winding and unwinding mechanism (1), the cable winding and unwinding length of the cable winding drum mechanism (2) and the advancing and retreating distance of the mobile device are kept consistent; wherein the method for adjusting the cable winding and unwinding speed of the cable winding and unwinding mechanism (1) according to the cable length data metered by the meter counter (3) is as follows: Comparing the cable length a passing through the meter (3) with the moving distance b of the mobile device; If a>b, the cable winding speed or unwinding speed of the cable winding and unwinding mechanism (1) is reduced, if a<b, the cable winding speed or unwinding speed of the cable winding and unwinding mechanism (1) is increased, and if a=b, the cable winding speed or unwinding speed of the cable winding and unwinding mechanism (1) is kept unchanged; The process of adjusting the cable winding and unwinding speed of the cable winding drum mechanism (2) according to the length change data of the spring tube (5) detected by the displacement sensor (6) in real time is as follows: Obtaining the displacement change of the spring tube (5) detected by the displacement sensor (6); If the length of the spring tube (5) is elongated compared with the length in the initial state, the cable winding speed of the cable winding drum mechanism (2) is increased or the cable unwinding speed is reduced, if the length of the spring tube (5) is shortened compared with the length in the initial state, the cable winding speed of the cable winding drum mechanism (2) is reduced or the cable unwinding speed is increased, and if the length of the spring tube (5) is equal to the length in the initial state, the cable winding speed or the cable unwinding speed of the cable winding drum mechanism (2) is kept unchanged.

2. The method of claim 1, wherein the mobile device is a mobile phone. The initial cable winding and unwinding speed of the cable winding and unwinding mechanism (1) and the cable winding drum mechanism (2) is determined according to the starting speed of the mobile device.

3. The method of claim 1, wherein the mobile device is a mobile phone. The cable winding and unwinding mechanism (1) comprises a first driving device, a rubber wheel (11), a wire guide wheel (12) and a compression spring (13), wherein the rubber wheel (11) is fixedly arranged and driven to rotate by the first driving device, the wire guide wheel (12) is arranged correspondingly to the rubber wheel (11), and the compression spring (13) is fixed at one end and connected to the wire guide wheel (12) at the other end, for pressing the cable (7) between the rubber wheel (11) and the wire guide wheel (12).

4. The method of claim 3, wherein the mobile device self-cable-free tensionless retraction method is characterized by: The rubber wheel (11) and the wire guide wheel (12) are correspondingly provided with multiple groups.

5. The method of claim 1, wherein the mobile device self-cable-free tensionless retraction method is characterized by: The cable winding drum mechanism (2) comprises a second driving device and a winding drum (21), and the second driving device is connected to the winding drum (21) for driving the winding drum (21) to rotate.

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