The invention relates to a finger device of a four-linkage parallel clamping and adaptive robot, which belongs to the technical field of robot hands. The finger device comprises a base, a first finger section, a second finger section, a proximal joint axis, a distal joint axis, a driver, a first connecting rod, a second connecting rod, a third connecting rod, a first rod shaft, a second rod shaft, a bulge driving disk, a thumb wheel, a transmission mechanism, a first spring part, a second spring part and a limiting bulge. According to the device, the finger functions of parallel clamping and adaptive grabbing are comprehensively realized, the second finger section can horizontally move to pinch an object or extend to take the object, or the first finger section and the second finger section are rotated in sequence, so as to adaptively envelop objects of different shapes and sizes; the grabbing range is wide, and the grabbing is stable and reliable; two joints are driven only by one driver, and a complex sensing and control system is not needed; the finger device has the advantages of simple structure, small size, light weight and low processing, assembly and maintenance cost and is suitable for the robot hands.