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.