The adaptive robot finger device with flat clip coupling switching of flexible parts belongs to the field of robotic hand technology, including a base, two finger segments, two joint shafts, a driver, a flexible transmission part, tendon ropes, multiple transmission wheels, half wheels, half Wheel connectors, rotating shafts, half-wheel bumps, two spring parts and limit bumps, etc. The device realizes the function that the robot finger flat clamp adaptive grasping mode and the coupled adaptive grasping mode can be switched easily. In the flat clip adaptive grasping mode, the device can not only translate the second finger segment to pinch the object, but also turn the first finger segment and the second finger segment to envelop objects of different shapes and sizes; in the coupling adaptive In the grasping mode, the device can simultaneously rotate two joints, and naturally turn to the adaptive grasping stage of bending the second finger segment after the first finger segment is blocked from contacting the object; the grasping range is large; the device is compact , small size, low manufacturing and maintenance costs, suitable for robotic hands.