针对目前煤矿喷涂机械手结构复杂、喷涂效果差、容易受干扰等问题，设计一种简单、实用的喷涂机械手，采用S7-300PLC作为主控器，控制2MA860H型驱动器驱动86BYG250A步进电机工作。通过设置传感器等功能模块对步进电机的温度、电流、电压进行实时监控，实现机械手安全精确的控制。通过对煤矿喷涂机械手的应用，验证了该系统高效稳定、操作灵活、抗干扰能力强，适用于煤矿巷道的喷涂。

To address the problems about complicated structure, poor spraying effect and constant interferences of coal mine spraying manipulator, a simple and practical spraying manipulator is designed. S7-300 PLC is used as the main controller to control 2MA860H driver to drive 86BYG250A stepper motor. The temperature and current of the manipulator can be monitored and controlled accurately by the temperature sensor. The application of the coal mine spraying manipulator verifies that the system is efficient and stable, easy to operate and has strong anti-interference ability. It is concluded that the designed system is suitable for coal mine roadway spraying.