The invention discloses a uniaxial motion control practice training device and a feeding and discharging method. The device comprises an experiment table, a feeding and discharging mechanism, a detecting mechanism used for detecting the position of a sample, and a control mechanism, wherein the detecting mechanism is electrically connected with the control mechanism, brackets used for placing the sample are correspondingly arranged below the feeding and discharging mechanism, and at least two brackets are arranged; and the control mechanism of the device is used for driving a mechanical arm to operate so as to move the sample from the former bracket to the latter bracket, the detecting mechanism is used for facilitating the mechanical arm to conveniently pick up and accurately locate the sample, and the device has the characteristics of simple structure, convenience and flexibility in operation, high reliability, high speed, high precision and low application cost, thereby capable of being used for teaching for a long time without maintenance, facilitating students in fully mastering the working principle of a robot and the selection and design of mechanism components and improving the designing, assembling and debugging capabilities of the students on electromechanical systems.