The cylinder derivative mechanism is controlled by a cylinder control valve to control the reciprocating motion of the piston rod to achieve the insertion and contraction of microneedles. It can solve the problems of inconvenient grasping of existing mechanical grippers, weak adhesion of Bernoulli suction cups, and easy grasping of two pieces of yarn by traditional cross piercing needle suction cups, achieving a product grasping yield of 99% and replacing manual automation production.