A sheet storage and retrieval device and a control method thereof

Abstract

The application discloses a motor manufacturing equipment, and aims to provide a kind of automatic degree high, can simultaneously carry out the grabbing transfer of multiple steel sheets, and a kind of sheet storage material taking device and control method with high material taking precision, and its technical solution points are that through material storage structure, material lifting structure and core feeding structure, the automatic feeding stacking transfer of core is realized, the above-mentioned device can realize the transfer of core at one time, the thickness of the transferred core is matched with the set value, and the thickness of the core is realized by adjusting the depth of the material taking groove, and in the process of material taking, infrared sensor and the feedback of two servo motors are used to detect the core lifting in place, the grabbing assembly in place and the core filling material taking groove in place, to jointly ensure the accuracy and reliability of the core positioning and grabbing process, avoid the lack of material and the problem of multiple grabbing, greatly improve the material taking accuracy and the efficiency of material taking. The application is suitable for motor manufacturing technical field.

Description

Technical Field

[0001] This invention relates to an electric motor manufacturing equipment, and more specifically, to a wafer storage and feeding device and its control method. Background Technology

[0002] The rotor is one of the important components of an electric motor, which is used to convert electrical energy into mechanical energy. The rotor is assembled by stacking multiple steel sheets to form an iron core, then fixing the iron core on a spindle, and finally placing windings, magnets, or conductors in the slots of the iron core.

[0003] Currently, steel sheets are typically fed manually during processing, and the quantity and shape of the stacked steel sheets need to be adjusted based on the rotor size. Since the thickness of a single steel sheet is fixed, the corresponding number of steel sheets must be manually selected and placed in the device during stacking. However, the stacked steel sheets have a large mass and are inconvenient to move. If they are split into multiple groups for separate handling, it will reduce production efficiency. Furthermore, the equipment on the market that can automatically stack steel sheets usually picks up and stacks individual steel sheets, which can reduce labor costs, but the overall stacking speed is slow and the processing efficiency is low. Summary of the Invention

[0004] In view of the shortcomings of the existing technology, the purpose of this invention is to provide a storage and handling device and its control method that is highly automated, capable of simultaneously grasping and transferring multiple steel sheets, and has high material handling accuracy.

[0005] To achieve the above objectives, the present invention provides the following technical solution: a chip storage and dispensing device, including a mounting frame, wherein the mounting frame is further provided with a material storage structure, including a turntable and a plurality of material storage components disposed on the turntable, wherein the material storage components are further provided with a base plate that can slide along its height direction; Material lifting structure: includes a support frame and a tray disposed on the support frame, the tray being configured to drive the bottom plate within the material storage assembly to move; Iron core feeding structure: includes a horizontal shaft and a vertical shaft set on the horizontal shaft, and a gripping component is also provided at the bottom of the vertical shaft.

[0006] The present invention is further configured such that: the material storage component includes a material cylinder, a retaining strip evenly arranged around the periphery of the material cylinder, and a positioning post arranged on a turntable; a groove is also provided on the turntable where the material storage component is installed, the groove being used to allow the pallet to pass through and to lift the bottom plate inside the material storage component.

[0007] The present invention is further configured such that: an infrared sensor is provided on the top of the support frame, and the infrared sensor is used to detect the material status in the material storage component.

[0008] The present invention is further configured such that: the gripping component includes a mounting top plate, a fixing ring disposed on the mounting top plate, and a plurality of pushing cylinders evenly disposed along the circumferential direction of the fixing ring; the fixing ring is also provided with a baffle, the baffle and the fixing ring cooperate to form a material picking groove, and the depth of the material picking groove is adjustable.

[0009] Preferably, the mounting top plate is also provided with a material ejection cylinder, and the baffle is also provided with a guide rod.

[0010] The present invention is further configured such that: the bottom of the turntable is also provided with an indexing plate and a drive motor.

[0011] The present invention is further configured such that: a servo motor is provided at the bottom of the material lifting structure and at the top of the longitudinal axis of the iron core feeding structure, and the servo motor is used to detect the contact state between the iron core in the material storage structure and the gripping component.

[0012] Preferably, the depth of the material feeding trough is adjusted by thread adjustment or by changing the thickness of the baffle.

[0013] This application also provides a control method for a chip storage and feeding device, including the following steps: S1, adjusting the feeding groove according to the required thickness of the iron core to be clamped, so that: the depth of the feeding groove = the thickness of the iron core to be clamped; S2. The staff adjusts the turntable to match the material storage component containing the iron core with the material lifting structure, and sets the detection thresholds of the servo motors at the bottom of the material lifting structure and the top of the longitudinal axis of the iron core feeding structure to T1 and T2, respectively. S3. The device starts, the pallet at the material lifting structure moves upward, and lifts the bottom plate and the iron core. S4. The infrared sensor at the support frame detects the iron core. If the infrared sensor signal is interrupted, it is determined that the current iron core has reached the designated position, and the process jumps to S5 to perform the material picking operation. Otherwise, it is determined that the iron core has not reached the designated position, and the pallet continues to lift. S5. The pallet remains stationary, keeping the height of the top of the iron core fixed. The horizontal axis drives the gripping assembly to position the gripping assembly and the iron core on the same vertical line. The vertical axis drives the gripping assembly to move towards the iron core. S6. During the movement of the gripping component, the servo motor at the top of the longitudinal axis detects the torque. The detection result is Tu. If Tu < T2, it is determined that the current gripping component is not in contact with the material storage component, and the gripping component continues to move. Otherwise, if Tu ≥ T2, it is determined that the current gripping component is in contact with the material storage component, and the process jumps to S7 to grip the iron core. S7. The pallet moves again, and at the same time, the servo motor at the bottom of the material lifting structure detects the torque. The detection result is Td. If Td < T1, it is determined that the top of the current iron core is not in contact with the top of the material picking groove, and the pallet continues to rise. Conversely, if Td ≥ T1, it is determined that the bottom of the current iron core is in contact with the top of the material picking groove, and each pushing cylinder drives to clamp the iron core in the material picking groove to complete the clamping of the iron core of the specified thickness. S8. The horizontal and vertical axes continue to move, causing the gripping assembly holding the iron core to move to the unloading point. Each pushing cylinder releases its clamping on the iron core, and at the same time, the unloading cylinder on the top plate pushes the iron core away from the gripping assembly to complete the unloading.

[0014] Preferably, step S3 further includes a method for detecting material shortage, comprising the following steps: S31, setting the maximum height of the pallet on the support frame to X, and automatically stopping when the pallet moves to position X;

[0015] S32. During the movement of the pallet, if the infrared sensor detects the iron core and causes the pallet to stop, it is determined that there are enough iron cores remaining in the current material storage component, and the grabbing of iron cores continues. Conversely, if the pallet stops automatically when it moves to position X, it is determined that the remaining iron cores in the current material storage component cannot reach the predetermined position, the pallet moves down to reset, and the turntable rotates to the next material storage component in sequence to perform material detection again.

[0016] By adopting the above technical solution, the following beneficial effects are achieved: 1. This application realizes the automated feeding, stacking, and transfer of iron cores through a material storage structure, a material lifting structure, and an iron core feeding structure. The above device can transfer iron cores in one go, and the thickness of the transferred iron cores matches the set value. The thickness of the iron cores is achieved by adjusting the depth of the picking slot. It can also automatically switch storage stations after detecting that the current material storage component is short of material. This greatly reduces manual intervention during the processing and significantly improves the overall work efficiency. In the process of picking up materials, infrared sensors and feedback from two servo motors are used to detect the iron core being lifted into place, the gripping component being in place, and the iron core being filled into the picking slot. This ensures the accuracy and reliability of the iron core in the positioning and gripping process, avoids the problem of material shortage and multiple gripping, and greatly improves the picking accuracy and efficiency.

[0017] 2. Furthermore, the material storage structure of this application includes several material storage components set on a turntable, and through an indexing plate and a drive motor, it effectively realizes the cyclic switching of workpieces when there is a shortage of material, ensuring continuous material supply during the feeding process. At the same time, during the feeding and turntable movement, by providing a locking strip on the periphery of the material cylinder, the position of the locking strip matches the position of the hole on the iron core. When the iron core is placed in the material storage component, it can be fixed by the locking strip to prevent the iron core from rotating in the axial direction. Furthermore, by providing a positioning post on the turntable, and providing a slot on the outside of the iron core, the slot matches the positioning post, ensuring the consistency of the direction when the iron core is stacked in the material storage component and when it is grasped. At the same time, the material is lifted by driving the base plate through the pallet, ensuring that the iron core is always at the same horizontal plane during the lifting and grasping process, and the material is lifted to the corresponding height by infrared detection, which has high detection accuracy.

[0018] 3. Simultaneously, the gripping component of this application is equipped with a fixing ring, and a pushing cylinder is provided in the circumferential direction of the fixing ring. The pushing cylinder works together to clamp the iron core inside the gripping component and can form a stable and uniform clamping force, effectively preventing the thin iron core from deforming or slipping during the gripping process. At the same time, the thickness of the gripped iron core can be adjusted by adjusting the depth of the picking groove. The depth of the picking groove can be flexibly set by adjusting the thread or changing the thickness of the baffle, so as to adapt to the gripping requirements of iron cores of different thicknesses, improving the versatility and adaptability of the device. After the gripping and transfer is completed, the pushing cylinder set on the mounting top plate can push the iron core to complete the unloading. During the gripping and unloading process, the positioning accuracy is further increased by setting a guide rod, ensuring the straightness and stability of loading and unloading.

[0019] 4. Furthermore, to ensure the accuracy and stability of material handling, two sets of torque detection are used to guarantee positioning accuracy. Specifically, a servo motor located at the top of the longitudinal axis of the iron core feeding structure drives the gripping component to move towards the material storage component. When the mounting plate of the gripping component abuts against the top of the material storage component's cylinder, the torque of the servo motor at the top of the longitudinal axis is detected. The detection result is Tu. When Tu is less than a set value, the gripping component continues to descend. When Tu is greater than or equal to the set value, it is determined that the gripping structure is in close contact with the top of the cylinder, and the gripping structure positioning is complete. This system can intelligently determine whether the gripping component is in contact with the material storage component without generating excessive impact, effectively... To prevent mechanical collision damage, after confirming safe contact between the gripping structure and the material cylinder, the pallet lifts the iron core again, allowing the material to be pushed into the gripping structure and fill the material chute inside. At this time, the servo motor at the bottom of the material lifting structure monitors the torque Td. When Td is less than the set value, the material continues to be lifted. When Td is greater than or equal to the set value, it is determined that the material has been filled in the material chute and is in contact with the top of the material chute, providing the optimal position conditions for reliable clamping of the pushing cylinder and ensuring the consistency of the iron core thickness during clamping. The above-mentioned dual judgment mechanism based on torque threshold greatly improves the safety, reliability and success rate of the material handling process, realizing a high-precision and high-efficiency material handling process. Attached Figure Description

[0020] Figure 1 This is a schematic diagram of a specific structure of an embodiment of a chip storage and dispensing device and its control method according to the present invention;

[0021] Figure 2 This is a schematic diagram of the material lifting structure in an embodiment of the material storage and dispensing device and its control method according to the present invention.

[0022] Figure 3 This is a schematic diagram of the core feeding structure of an embodiment of the chip storage and feeding device and its control method according to the present invention.

[0023] Figure 4 This is a cross-sectional view of the gripping component and the material storage component in the contact and engagement state of an embodiment of the material storage and dispensing device and its control method of the present invention.

[0024] Figure 5 This is a flowchart illustrating the control method of an embodiment of a chip storage and dispensing device and its control method according to the present invention.

[0025] Figure 6 This is a flowchart of a material shortage detection method according to an embodiment of a material storage and dispensing device and its control method of the present invention;

[0026] The attached diagram shows the following labels: 1. Mounting frame; 2. Material storage structure; 21. Turntable; 22. Material storage component; 221. Material cylinder; 222. Clamping strip; 223. Positioning column; 224. Tank; 23. Base plate; 3. Material lifting structure; 31. Support frame; 32. Pallet; 33. Infrared sensor; 4. Iron core feeding structure; 41. Horizontal axis; 42. Vertical axis; 43. Gripping component; 431. Mounting top plate; 432. Fixing ring; 433. Pushing cylinder; 434. Baffle; 435. Material chute; 436. Unloading cylinder; 437. Guide rod; 5. Servo motor. Detailed Implementation

[0027] Reference Figures 1 to 6 The embodiments of the chip storage and dispensing device and its control method of the present invention will be further described.

[0028] For ease of explanation, spatial relative terms such as “up,” “down,” “left,” and “right” are used in the embodiments to describe the relationship of one element or feature shown in the figures relative to another element or feature. It should be understood that, in addition to the orientations shown in the figures, spatial terms are intended to include different orientations of the device in use or operation. For example, if the device in the figures is inverted, an element described as being “down” of other elements or features would be positioned “up” of those other elements or features. Therefore, the exemplary term “down” can encompass both up and down orientations. The device may be positioned in other ways (rotated 90 degrees or in other orientations), and the spatial relative descriptions used herein will be interpreted accordingly.

[0029] Moreover, relational terms such as “first” and “second” are used merely to distinguish one component from another that has the same name, without necessarily requiring or implying any such actual relationship or order between the components.

[0030] Example 1

[0031] A material storage and dispensing device includes a mounting frame 1, and the mounting frame 1 is further provided with a material storage structure 2: including a turntable 21 and a plurality of material storage components 22 disposed on the turntable 21, and the material storage components 22 are further provided with a bottom plate 23 that can slide along its height direction. Material lifting structure 3: includes a support frame 31 and a tray 32 disposed on the support frame 31, the tray 32 being configured to drive the bottom plate 23 within the material storage assembly 22 to move; Iron core feeding structure 4: includes a horizontal shaft 41 and a vertical shaft 42 set on the horizontal shaft 41, and the bottom of the vertical shaft 42 is also provided with a gripping component 43.

[0032] The material storage component 22 includes a material cylinder 221, a retaining strip 222 evenly arranged around the material cylinder 221, and a positioning post 223 arranged on the turntable 21. The turntable 21 is also provided with a groove 224 at the location where the material storage component 22 is installed. The groove 224 is used to allow the pallet 32 ​​to pass through and lift the bottom plate 23 inside the material storage component 22.

[0033] The support frame 31 is also equipped with an infrared sensor 33 on its top, which is used to detect the material status in the material storage component 22.

[0034] The gripping component 43 includes a mounting top plate 431, a fixing ring 432 disposed on the mounting top plate 431, and a plurality of pushing cylinders 433 evenly disposed along the circumferential direction of the fixing ring 432. A baffle 434 is also provided inside the fixing ring 432. The baffle 434 and the fixing ring 432 cooperate to form a material picking groove 435. The depth of the material picking groove 435 is adjustable.

[0035] Preferably, the mounting top plate 431 is further provided with a material ejection cylinder 436, and the baffle 434 is further provided with a guide rod 437.

[0036] The bottom of the turntable 21 is also equipped with an indexing plate and a drive motor.

[0037] The bottom of the material lifting structure 3 and the top of the longitudinal axis 42 of the iron core feeding structure 4 are both equipped with servo motors 5. The servo motors 5 are used to detect the contact state between the iron core in the material storage structure 2 and the gripping component 43.

[0038] Preferably, the depth of the material receiving trough 435 is adjusted by changing the thickness of the baffle 434.

[0039] This application also provides a control method for a chip storage and feeding device, including the following steps: S1, adjusting the feeding groove according to the required thickness of the iron core to be clamped, so that: the depth of the feeding groove = the thickness of the iron core to be clamped;

[0040] S2. The staff adjusts the turntable to match the material storage component containing the iron core with the material lifting structure, and sets the detection thresholds of the servo motors at the bottom of the material lifting structure and the top of the longitudinal axis of the iron core feeding structure to T1 and T2, respectively.

[0041] S3. The device starts, the pallet at the material lifting structure moves upward, and lifts the bottom plate and the iron core.

[0042] S4. The infrared sensor at the support frame detects the iron core. If the infrared sensor signal is interrupted, it is determined that the current iron core has reached the designated position, and the process jumps to S5 to perform the material picking operation. Otherwise, it is determined that the iron core has not reached the designated position, and the pallet continues to lift.

[0043] S5. The pallet remains stationary, keeping the height of the top of the iron core fixed. The horizontal axis drives the gripping assembly to position the gripping assembly and the iron core on the same vertical line. The vertical axis drives the gripping assembly to move towards the iron core.

[0044] S6. During the movement of the gripping component, the servo motor at the top of the longitudinal axis detects the torque. The detection result is Tu. If Tu < T2, it is determined that the current gripping component is not in contact with the material storage component, and the gripping component continues to move. Otherwise, if Tu ≥ T2, it is determined that the current gripping component is in contact with the material storage component, and the process jumps to S7 to grip the iron core.

[0045] S7. The pallet moves again, and at the same time, the servo motor at the bottom of the material lifting structure detects the torque. The detection result is Td. If Td < T1, it is determined that the top of the current iron core is not in contact with the top of the material picking groove, and the pallet continues to rise. Conversely, if Td ≥ T1, it is determined that the bottom of the current iron core is in contact with the top of the material picking groove, and each pushing cylinder drives to clamp the iron core in the material picking groove to complete the clamping of the iron core of the specified thickness.

[0046] S8. The horizontal and vertical axes continue to move, causing the gripping assembly holding the iron core to move to the unloading point. Each pushing cylinder releases its clamping on the iron core, and at the same time, the unloading cylinder on the top plate pushes the iron core away from the gripping assembly to complete the unloading.

[0047] Preferably, step S3 further includes a method for detecting material shortage, comprising the following steps: S31, setting the maximum height of the pallet on the support frame to X, and automatically stopping when the pallet moves to position X;

[0048] S32. During the movement of the pallet, if the infrared sensor detects the iron core and causes the pallet to stop, it is determined that there are enough iron cores remaining in the current material storage component, and the grabbing of iron cores continues. Conversely, if the pallet stops automatically when it moves to position X, it is determined that the remaining iron cores in the current material storage component cannot reach the predetermined position, the pallet moves down to reset, and the turntable rotates to the next material storage component in sequence to perform material detection again.

[0049] This application achieves automated feeding, stacking, and transfer of iron cores through a material storage structure 2, a material lifting structure 3, and an iron core feeding structure 4. The aforementioned device can transfer iron cores in one go, and the thickness of the transferred iron cores matches the set value. The thickness of the iron cores is achieved by adjusting the depth of the picking slot 435. It can also automatically switch storage stations after detecting that the current material storage component 22 is short of material. This significantly reduces manual intervention during processing and greatly improves the overall work efficiency. Furthermore, during the material picking process, the infrared sensor 33 and two servo motors 5 are used to detect the iron core being lifted into place, the gripping component 43 being in place, and the iron core being filled into the picking slot 435. This together ensures the accuracy and reliability of the iron core in the positioning and gripping process, avoids the problems of material shortage and multiple gripping, and greatly improves the picking accuracy and efficiency.

[0050] Furthermore, the material storage structure 2 of this application includes several material storage components 22 disposed on the turntable 21, and through the indexing plate and drive motor, it effectively realizes the cyclic switching of workpieces when there is a shortage of material, ensuring continuous material supply during the feeding process. At the same time, during the feeding and the movement of the turntable 21, the material cylinder 221 is provided with a retaining strip 222 on its periphery. The position of the retaining strip 222 matches the position of the hole on the iron core. When the iron core is placed in the material storage component 22, it can be fixed by the retaining strip 222 to prevent the iron core from rotating in the axial direction. Furthermore, the turntable 21 is provided with a positioning post 223, and the iron core is provided with a slot on its outer side. The slot matches the positioning post 223, ensuring the consistency of the direction when the iron core is stacked in the material storage component 22 and when it is grasped. At the same time, the material is lifted by the support plate 32 driving the base plate 23, ensuring that the iron core is always on the same horizontal plane during the lifting and grasping process, and the material is lifted to the corresponding height by infrared detection, which has high detection accuracy.

[0051] Meanwhile, the gripping component 43 of this application is equipped with a fixing ring 432, and a pushing cylinder 433 is arranged in the circumferential direction of the fixing ring 432. The pushing cylinder 433 works together to clamp the iron core inside the gripping component 43 and can form a stable and uniform clamping force, effectively preventing the thin iron core from deforming or slipping during the gripping process. At the same time, the thickness of the gripped iron core can be adjusted by adjusting the depth of the picking groove 435. The depth of the picking groove 435 can be flexibly set by changing the thickness of the baffle 434, so that it can adapt to the gripping requirements of iron cores of different thicknesses, improving the versatility and adaptability of the device. After the gripping and transfer is completed, the pushing cylinder 433 set on the mounting top plate 431 can push the iron core to complete the unloading. During the gripping and unloading process, the positioning accuracy is further increased by setting a guide rod 437, ensuring the straightness and stability of loading and unloading.

[0052] Furthermore, to ensure the accuracy and stability of material handling, two sets of torque detection are used to guarantee positioning accuracy. Specifically, a servo motor 5 located at the top of the longitudinal axis 42 of the iron core feeding structure 4 drives the gripping component 43 to move towards the material storage component 22. When the mounting plate 431 of the gripping component 43 abuts against the top of the material cylinder 221 of the material storage component 22, the torque of the servo motor 5 at the top of the longitudinal axis 42 is detected. The detection result is Tu. When Tu is less than the set value, the gripping component 43 continues to descend. When Tu is greater than or equal to the set value, it is determined that the gripping structure is in close contact with the top of the material cylinder 221, and the gripping structure positioning is completed. It can intelligently determine whether the gripping component 43 is in contact with the material storage component 22, while avoiding excessive impact. The impact effectively prevents mechanical collision damage. After confirming that the gripping structure and the material cylinder 221 are in safe contact, the pallet 32 ​​lifts the iron core again, so that the material is pushed into the gripping structure and fills the material picking slot 435 inside the gripping structure. At this time, the servo motor 5 at the bottom of the material lifting structure 3 monitors the torque Td. When Td is less than the set value, the material continues to be lifted. When Td is greater than or equal to the set value, it is determined that the material has been filled in the material picking slot 435 and is in contact with the top of the material picking slot 435, providing the best position conditions for the reliable clamping of the pushing cylinder 433 and ensuring the consistency of the iron core thickness during clamping. The above-mentioned dual judgment mechanism based on torque threshold greatly improves the safety, reliability and success rate of the material picking process, and realizes a high-precision and high-efficiency material picking process.

[0053] Example 2

[0054] The method is basically the same as that in Embodiment 1, except that the depth adjustment method of the material picking groove 435 is adjusted by thread, which is fast and can shorten the downtime when switching to process the finished iron core, thereby improving the overall processing efficiency.

[0055] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any ordinary changes and substitutions made by those skilled in the art within the scope of the technical solution of the present invention should be included within the protection scope of the present invention.

Claims

1. A flake dispensing device, characterized in that, The mounting frame (1) is provided with a material storage structure (2): including a turntable (21) and a plurality of material storage components (22) disposed on the turntable (21), wherein the material storage components (22) are provided with a base plate (23) that can slide along its height direction; Material lifting structure (3): includes a support frame (31) and a tray (32) disposed on the support frame (31), the tray (32) being configured to drive the bottom plate (23) within the material storage assembly (22) to move; Iron core feeding structure (4): includes a horizontal shaft (41) and a vertical shaft (42) set on the horizontal shaft (41), and the bottom of the vertical shaft (42) is also provided with a gripping component (43); The material storage assembly (22) includes a material cylinder (221), clips (222) evenly arranged around the material cylinder (221), and positioning posts (223) arranged on a turntable (21). A groove (224) is also provided on the turntable (21) where the material storage assembly (22) is installed. The groove (224) is used to allow the pallet (32) to pass through and lift the bottom plate (23) inside the material storage assembly (22). The support frame (31) is also equipped with an infrared sensor (33) on top, which is used to detect the material status in the material storage component (22); The gripping component (43) includes a mounting top plate (431), a fixing ring (432) disposed on the mounting top plate (431), and a plurality of pushing cylinders (433) evenly disposed along the circumferential direction of the fixing ring (432). A baffle (434) is also provided inside the fixing ring (432). The baffle (434) cooperates with the fixing ring (432) to form a material picking groove (435). The depth of the material picking groove (435) is adjustable. Servo motors (5) are provided at the bottom of the material lifting structure (3) and at the top of the longitudinal axis (42) of the iron core feeding structure (4). The servo motors (5) are used to detect torque and determine the contact state between the iron core in the material storage structure (2) and the gripping component (43) based on the detection results.

2. The flake dispensing device according to claim 1, characterized in that, The mounting top plate (431) is also equipped with a material discharge cylinder (436), and the baffle (434) is also equipped with a guide rod (437).

3. The flake dispensing device according to claim 1, characterized in that, The bottom of the turntable (21) is also equipped with an indexing plate and a drive motor.

4. The flake dispensing device according to claim 1, characterized in that, The depth of the feeding trough (435) is adjusted by thread adjustment or by changing the thickness of the baffle (434).

5. A control method applicable to the wafer storage and dispensing device according to any one of claims 1-4, characterized in that, Includes the following steps: S1. Adjust the material feeding slot according to the required thickness of the iron core to be clamped, so that: the depth of the material feeding slot = the thickness of the iron core to be clamped. S2. The staff adjusts the turntable to match the material storage component containing the iron core with the material lifting structure, and sets the detection thresholds of the servo motors at the bottom of the material lifting structure and the top of the longitudinal axis of the iron core feeding structure to T1 and T2, respectively. S3. The device starts, the pallet at the material lifting structure moves upward, and lifts the bottom plate and the iron core. S4. The infrared sensor at the support frame detects the iron core. If the infrared sensor signal is interrupted, it is determined that the current iron core has reached the designated position, and the process jumps to S5 to perform the material picking operation. Otherwise, it is determined that the iron core has not reached the designated position, and the pallet continues to lift. S5. The pallet remains stationary, keeping the height of the top of the iron core fixed. The horizontal axis drives the gripping assembly to position the gripping assembly and the iron core on the same vertical line. The vertical axis drives the gripping assembly to move towards the iron core. S6. During the movement of the gripping component, the servo motor at the top of the longitudinal axis detects the torque. The detection result is Tu. If Tu < T2, it is determined that the current gripping component is not in contact with the material storage component, and the gripping component continues to move. Otherwise, if Tu ≥ T2, it is determined that the current gripping component is in contact with the material storage component, and the process jumps to S7 to grip the iron core. S7. The pallet moves again, and at the same time, the servo motor at the bottom of the material lifting structure detects the torque. The detection result is Td. If Td < T1, it is determined that the top of the current iron core is not in contact with the top of the material picking groove, and the pallet continues to rise. Conversely, if Td ≥ T1, it is determined that the top of the current iron core is in contact with the top of the material picking groove, and each pushing cylinder drives to clamp the iron core in the material picking groove to complete the clamping of the iron core of the specified thickness. S8. The horizontal and vertical axes continue to move, causing the gripping assembly holding the iron core to move to the unloading point. Each pushing cylinder releases its clamping on the iron core, and at the same time, the unloading cylinder on the top plate pushes the iron core away from the gripping assembly to complete the unloading.

6. The control method for a wafer storage and dispensing device according to claim 5, characterized in that, Step S3 also includes a method for detecting material shortage. The steps include: S31, setting the maximum height of the pallet on the support frame to X, and automatically stopping when the pallet moves to position X; S32. During the movement of the pallet, if the infrared sensor detects the iron core and causes the pallet to stop, it is determined that there are enough iron cores remaining in the current material storage component, and the grabbing of iron cores continues. Conversely, if the pallet stops automatically when it moves to position X, it is determined that the remaining iron cores in the current material storage component cannot reach the predetermined position, the pallet moves down to reset, and the turntable rotates to the next material storage component in sequence to perform material detection again.

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