The invention discloses a flat-clamping and coupling adaptive multi-mode robot finger grabbing device, and belongs to the technical field of robot hands. The device comprises a base, two finger sections, two joint shafts, a motor, two electromagnetic brakes, a driving part, two driving wheels, multiple gears, a spring part and the like. The device achieves switchable grabbing functions of the flat-clamping self-adaption and coupling self-adaption of biarticular robot fingers. The device has five grabbing modes of flat-clamping grabbing, coupling grabbing, adaptive grabbing, flat-clamping adaptive grabbing and coupling adaptive grabbing. The flat-clamping self-adaption mode and the coupling self-adaption mode can be switched at any angle position, the switching process has no idle rotation,and the finger gesture is ensured when switching; the device has the advantages that the size is small, the structure is compact, the motor is controlled easily, the automatic adjustment of two joints during grabbing is achieved by using fewer motor, the adaptive capacity to objects with different shapes and sizes is strong, and the device is suitable for various robots needing to grab objects.