The invention discloses a semi-automatic mooring rope taking-up and paying-off device for mooring an unmanned aerial vehicle. The semi-automatic mooring rope taking-up and paying-off device for mooring the unmanned aerial vehicle comprises a fixing frame, a winch, a rotary rod, a brake disc, a brake handle, a first bolt, a driving wheel, a belt, a driven wheel, a rocker, a reciprocating lead screw, a creel stand, a clutch, a motor, a photoelectric slide ring, a movable ring, a positioning rod, a rotary shaft, a supporting rod, a locking bolt, a bearing, a second bolt, a casing pipe, a windingcolumn and a lateral baffle. The winch is installed on the fixing frame, one end of the winch is connected with the fixing frame through the rotary rod, the other end of the winch is installed on thepositioning rod through the casing pipe and then is fixed with the second bolt, the positioning rod is installed on the movable rod, the movable rod is rotationally connected with the supporting rod through the rotary shaft, the first and second bolts are taken down, the casing pipe moves on the positioning rod, the winch and the rotary rod are separated, then the movable rod is turned over, the winch is drawn out, and then overall replacement of a mooring rope is facilitated. The semi-automatic mooring rope taking-up and paying-off device for mooring the unmanned aerial vehicle has the characteristic of conveniently replacing the mooring rope.