Belonging to the technical field of anthropomorphic robots, a multi-joint super underactuated robot finger device with gears and belt wheels comprises a base seat, a motor, a near joint shaft, at least two middle finger sections, at least one middle joint shaft, a far joint shaft and a terminal finger section. The device also comprises a driven gear, at least two driving gears, near transitional gears, driving wheels, transmission parts, driven wheels, far transitional gears, spring parts, near transitional shafts and far transitional shafts. The device utilizes the designed gear and belt wheel transmission mechanism, multiple movably socketed middle finger sections and the decoupling function of multiple spring parts to comprehensively realize the special effect of that the multi-joint super underactuated fingers are bent to grasp an object; similar to the human fingers, the device can be used on a robot hand with the long middle finger sections of fingers and particularly used as the index finger, middle finger, ring finger and little finger of the anthropomorphic robot hand, so that the anthropomorphic robot hand can use less actuators to drive more rotating joints; when the middle finger sections are hindered while touching an object, the terminal finger sections can continue to move and grasp the object, and the device can be self-adapted to the shape and size of the grasped object; the device has the advantages of simple structure, low cost, convenient assembly and maintenance, reliable performance and long service life.