The invention discloses a finger device for a double-joint three-axis-wheel combined underactuated robot, which belongs to the technical field of bionic robotic hands. The finger device comprises a base, a motor, a reducer, a base shaft, a near joint shaft, a middle finger section, a far joint shaft, a tail end finger, multiple transmission mechanisms and springs. With the single motor, multiple shafts, multiple transmission mechanisms with different transmission ratios, springs and the like, the finger device achieves the combined underactuated catching advantages that: fingers are coupled and turn to an object to be caught, and self-adaptively catch the object; the catching process is like that of a human hand, the action is flexible, the catching of the object is stable, objects of different sizes and shapes can be caught in a self-adaptive manner, the requirement on the control system is low, and the manipulation is easy; meanwhile, the structure is simple and compact, the energy consumption is low, the transmission efficiency is high, the cost is low, the assembly and maintenance are convenient, the shape of the finger device is similar with a human hand, and the finger device is suitable to be used as a hand of a bionic robot.