The invention provides a rock sample core taking device based on an articulated robot. The rock sample core taking device comprises the articulated robot and a rinse liquid pool. The rinse liquid poolis internally provided with a fixture combination and a water-intaking pump. The articulated robot is provided with a drill pipe. One end of a water pipe is connected with the water-intaking pump, and the other end of the water pipe is arranged in the drill pipe. When the drill pipe drills the rock core, the water pipe sprays water outward and the water is made to flow down along the drill pipe.The fixture combination comprises six guide rails which are distributed in the shape like a Chinese character "mu" and laid on the bottom of the rinse liquid pool. A rock sample is located at the intersection of extending lines of the six guide rails. The guide rails are provided with fastening sliding blocks, the fastening sliding blocks are provided with vertical stay bars, each vertical stay bar is provided with two fastening push rods arranged up and down, and each fastening push rod is provided with a clamping head for abutting against the rock sample. At least parts of vertical stay barsmove to the direction of the rock sample through the corresponding fastening sliding blocks until the clamping heads abut against the rock sample to jointly clamp and fix the rock sample so that thearticulated robot can conveniently use the drill pipe to drill the rock core.