目的 研究堆聚态采血针管在包装过程中的自动分料拾取机械手，实现采血针管的单根拾取。方法 基于采血针管的物理特性，设计搓分式和气吸式2种自动分料拾取机械手，通过拾取过程的力学分析和正交试验，研究入料深度、初始杆距和夹持力对搓分式分料拾取成功率的影响；通过设计计算和试验，研究吸附次数对气吸式分料拾取成功率的影响，并将2种机械手的分料拾取效果作对比。结果 搓分式分料拾取机械手在入料深度为30 mm、初始杆距为4 mm、夹持力为1.9 N时分料拾取成功率最大为82%，但对物料损伤程度较大。气吸式分料拾取机械手在连续双次吸附时，分料拾取成功率最大为86%，对物料损伤程度较小。结论 气吸式分料拾取机械手对物料损伤程度较小，可以满足五通道采血针管自动包装机的送料要求。

The work aims to study the automatic sorting and picking manipulator for blood collecting needles in stacking state in the packaging process, to achieve the single picking of the blood collecting needles. Two kinds of automatic sorting and picking manipulator of the rubbing and air-aspiration types were designed base on the physical characteristics of the blood collecting needle. By mechanical analysis and orthogonal test of the picking process, the influence of the insertion depth, initial rod distance and clamping force on the success rate of the rubbing type sorting and picking was studied. Through design calculation and test, the influence of adsorbed frequency on the success rate of the air-aspiration type sorting and picking was researched. Moreover, the sorting and picking effect of these two kinds of manipulators was compared. When the insertion depth was 30 mm, the initial rod distance was 4 mm, and the clamping force was 1.9 N, the success rate of sorting and picking was the maximum (82%) and the rubbing type sorting and picking manipulator did great harm to the materials. The success rate of sorting and picking was 86% during the continuous double absorption by air-aspiration type sorting and picking manipulator, due to which the materials were subject to less damage. The air-aspiration type sorting and picking manipulator does little damage to the blood collecting needles, so that it can meet the feeding requirements of the automatic packaging machine of the five-channel blood collecting needles.