To prevent a contact sensor itself from causing interference with a surrounding matter, and to detect contact of a gripping claw with an object or a matter around it when the object is gripped by a plurality of gripping claws.

A gripping/conveying device includes the plurality of gripping claws 3 for gripping the object, a holding moving body 5 that moves while operably holding the gripping claw 3, and a contact sensor 7 for detecting the contact with the object. The contact sensor 7 is incorporated in the tip of each gripping claw 3 so that a part thereof is arranged inside the gripping claw 3.