The invention discloses a peripheral blood sampling device and its control method, control device and storage medium. The peripheral blood sampling device includes a needle box, a blood lancing mechanism, a driving mechanism and a distance detection device. The blood lancing mechanism includes a lancet, and the driving mechanism The control method of the peripheral blood sampling device for driving the translation of the lancet includes the following steps: based on the distance detection device, obtaining a distance parameter L from the lancet to the surface of the human body; when the distance parameter L is equal to the first distance preset value M1, The driving mechanism is controlled to drive the lancet to translate forward. The automatic disassembly and installation of the lancet can be realized, the operation of manual disassembly and assembly of the needle is omitted, the time for patients to wait for disassembly and installation of the needle is saved, and the work efficiency of blood glucose testing, pricking and bloodletting, and blood type identification is improved. Moreover, the unmanned and automated operation reduces the operational risk of manual replacement of the lancet, and avoids the medical hidden dangers of blood sugar testing, pricking bloodletting, and blood type identification.