The invention discloses a manipulator gripping tool, and belongs to the field of material taking and putting devices. The manipulator gripping tool comprises a first gripping tool body, a second gripping tool body, a fixing plate, a first connecting rod, air cylinders, a triangular rib and a connecting block. The air cylinders are symmetrically arranged at the two ends of the fixing plate. Piston rods of the air cylinders are fixedly connected with the fixing plate and perpendicular to the fixing plate. The fixing plate is fixedly connected with the first gripping tool body through the first connecting rod. Cylinder barrels of the air cylinders are fixedly connected with the triangular rib which is fixedly connected with the second gripping tool body. The second gripping tool body is provided with the connecting block. The plane where the second gripping tool body is located is parallel to the plane where the first gripping tool body is located. According to the technical scheme, the production efficiency and the mechanization level in a workshop can be improved, moreover, the structure is simple, and the cost is low.