The utility model relates to a manipulator sampling and preparing device controlled by a programmable controller, which belongs to the filed of manipulator components. The sampling and preparing device mainly comprises a programmable controller, a frequency converter, an alarm, a sampling head, a conveyer, a crusher, a divider, a collector, a motor, an assembly line, cargo. The motor is electrically connected to the programmable controller. The programmable controller is connected to the frequency converter, the alarm, the sampling head, the conveyer, the crusher, the divider, the collector, and a hydraulic pump. The frequency converter is electrically connected to a rotary motor. A mechanical arm is composed of a rotary table, a lower cylinder, an upper cylinder, a sampling head, a hydraulic pump, and a motor. The cargo is disposed on the assembly line. The manipulator sampling and preparing device controlled by a programmable controller is advantageous in that work efficiency is high, adaptation capability is strong, and the effective combination of mechanization and automation can be achieved; operating cost of the system is low, connecting is simple, control speed is fast, and accuracy is high; reliability and maintenance performance are good, and installation, maintenance and reconstruction are convenient.