The invention relates to a Chinese herbal medicine gripping device and belongs to the field of medical equipment. The Chinese herbal medicine gripping device is formed by a main frame body, a first motor, a moving assembly, arc-shaped check blocks, a first horizontal guide rod, a horizontal screw rod, a second horizontal guide rod, a gripping assembly, door opening and closing components, and medicine storage drawers. The Chinese herbal medicine gripping device is characterized in that the first motor, the first horizontal guide rod, the horizontal screw rod and the second horizontal guide rodare arranged on the main frame body; the first motor can drive the horizontal screw rod to rotate; the horizontal screw rod can drive the moving assembly to move; the gripping assembly is arranged onthe moving assembly; the multiple medicine storage drawers are arranged on the main frame body; the multiple door opening and closing components are arranged on the corresponding medicine storage drawers; the corresponding arc-shaped check blocks arranged on the main frame body are arranged above each column of the medicine storage drawers; and arc-shaped surfaces of the arc-shaped check blocks face the left side. The Chinese herbal medicine gripping device provided by the invention has the beneficial effects that the efficiency of gripping Chinese herbal medicines can be improved, and the manpower use during a medicine gripping process is reduced.