The invention involves a space crank rocker weft insertion device used for gripper loom, it includes: spindle (1), axle gear (10) and the gripper-transmitting wheel(12), the axle gear and the gripper-transmitting wheel are coaxial, the spindle is connected with a crank rocker device, the crank rocker device includes crank (2), cradle (3), pendular body (8) and fan gear (9), the crank is fixed with the spindle, axle end of cradle is connected with the crank through rolling bearing (4) and slide blocks (5), two axle ends of pendular body is connected with cradle through rolling bearing (7), the pendular body is fixed and equipped with fan gear, the fan gear is engaged with the axle gear directly, or the fan gear first is engaged with gear pair (11), then the gear pair is engaged with axle gear, the central axial trace (AA') of spindle, the rotary axial trace (EE') of cradle, the central axial trace (CC') of pendular body and the swinging centre of fan gear are intersected at same crossing point (O) in space, a included angle ( alpha ) which is bigger than zero degree is left between said rotary axial trace (EE') of cradle and central axle of spindle. The invention can adjust the stroke of gripper belt conveniently, the structure is simple and compact, and the movement is stable and reliable.