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.