The invention discloses a cam type quick grabbing under-actuated robot hand device, and belongs to the technical field of robot hands. The device mainly comprises a palm, at least two fingers, a main shaft, a motor, a speed reducer, a first bevel gear, a second bevel gear, an incomplete groove cam, a movable plate, a sensor for detecting whether the fingers are opened in place or not, a sensor for detecting whether an object is in place or not, a control module and the like, wherein each finger is a tendon rope-torsion spring type multi-joint finger. The device has a function of automatically and quickly grabbing the object, and a grabbing process comprises four processes of energy storage opening of the fingers, detection of whether the fingers are opened in place or not, detection of whether the object is in place or not and instantaneous grabbing releasing; the device can be used for realizing quick grabbing; the object can be automatically grabbed after being detected to be in place; objects with different shapes and sizes can be adaptively grabbed; the device is compact in structure, the palm is large in size, and a grabbing space is large; the device is stable and accurate in transmission and high in transmission efficiency; and a plurality of joints of a plurality of fingers can be driven by only one motor, and the appearance and the actions of a human hand can be simulated by the device; and the device can be used for an anthropomorphic robot.