The invention relates to a separated-drive cam-type parallel-clamping adaptive finger device capable of adjusting the height automatically, and belongs to the technical field of robot hands. The separated-drive cam-type parallel-clamping adaptive finger device capable of adjusting the height automatically comprises a motor, a plurality of connecting rods, a cam, a push plate, two racks, two gears,four bevel gears, a sleeve, two springs, a limiting block and the like. According to the separated-drive cam-type parallel-clamping adaptive finger device capable of adjusting the height automatically, a linear parallel-clamping adaptive hybrid grabbing function of double-joint robot fingers is achieved; according to target objects in different shapes and at different positions, a second finger section of the finger device can linearly move to pinch the objects or to grab the objects through outward expansion, and a first finger section and the second finger section can be sequentially rotated to grab objects in different shapes and with different sizes adaptively. The motor is mounted on the lower portion of a fixed base, so that the weight of the upper portion of the base is reduced, and thus, remote driving can be achieved easily; the tail end of the finger device moves along a linear track in the parallel-clamping stage, so that the control difficulty is lowered when sheet objectson a table board are grabbed, the grabbing efficiency is improved, stable grabbing is ensured, the structure is compact, and the cost is low; and the separated-drive cam-type parallel-clamping adaptive finger device is suitable for various robots used for grabbing workpieces.