The invention discloses an unmanned aerial vehicle grabbing device, which relates to the field of unmanned aerial vehicles, and includes a driving device, a mechanical gripper and a fixing frame, the driving device is arranged above the fixing frame, and the driving device includes a driving motor and a longitudinal driving rod , a horizontal drive rod and a fixed plate, the drive motor drives the longitudinal drive rod through the drive gear, the horizontal drive rod is arranged at the lower end of the longitudinal drive rod, and is distributed in 4 mutually perpendicular directions at the lower end respectively, and the manipulator includes Hand grip mounting seat, connecting rod, push rod and hand grip arm, the grip mounting seat is welded to the periphery of the fixed plate, the connecting rods are respectively hinged to the grip mounting seat and the hand grip arm, and the push rod is respectively connected to the transverse drive rod And the upper part of the hand grab arm, the lower part of the fixed frame is also provided with an electric telescopic rod, and the electric telescopic rod is connected to a microprocessor. This kind of UAV grabbing device can realize a stable grabbing function through an improved driving device. It is worth promoting.