The utility model discloses a pipe utensil grasping mechanism, include: base, first grip block, second grip block, first connecting rod, second connecting rod, slider and actuating mechanism, wherein: the one end of base is equipped with the mutual disposition and forms first side lever, the second side lever in centre gripping groove between the two, and the base is close to the one end in centre gripping groove and installs the sensor, first grip block rotates with first side lever through first round pin axle to be connected, rotates with the one end of first connecting rod through second round pin axle and is connected, first connecting rod passes through third round pin axle and is connected with the slider, the second grip block passes through fourth round pin axle to be connected with the rotation of second side lever, rotates with the one end of second connecting rod through the 5th round pin axle and is connected, the second connecting rod is connected with the slider through the 6th round pin axle, slider slidable mounting is on the base, actuating mechanism fixed mounting is used for driving the slider and carries out sharp slip on the base on the base. The utility model discloses simple and practical grabs an accuracy height, and can avoid a tub utensil accident to deviate from, and the operational reliability is high.