JPH043268B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION Technical Field The present invention relates to a method and apparatus for automatically painting a surface in which a mountain surface, a slope surface, and a valley surface are periodically repeated, such as a sea container.

BACKGROUND ART A side wall 1 of a marine container has a horizontal cross section as shown in FIG. When paint is injected from a nozzle 3 having a horizontal axis 2 onto such a side wall 1, a valley surface 4 perpendicular to the horizontal axis 2 has the following properties:
Although a coating film having an appropriate thickness is obtained, the coating film on the inclined surfaces 5 and 6 becomes thinner. Furthermore, when spraying paint using the nozzle 8 having the axis 7,
Even if the thickness of the coating film on the valley surfaces 9 and 10 is appropriate, the coating film on the slope surface 11 is thin.

If the thickness of the coating film on the sloped surfaces 5, 6, and 11 is to be set to an appropriate value, the thickness of the coating film on the valley surfaces 4, 9 and the sloped surface 10 will become thicker, and therefore unnecessary paint will be required. It became a matter of fact.

If you want to paint the side wall 1 with such a structure and shape to a uniform thickness, you will have to do it manually, and the painting work environment is extremely poor.
Furthermore, it becomes difficult to maintain constant quality.

Problems to be Solved by the Invention An object of the invention is to provide a method and apparatus that can automatically coat a corrugated surface with a uniform thickness.

Means for Solving the Problems The present invention firstly provides an automatic painting method for a structure having a corrugated surface that periodically repeats a mountain surface, an inclined surface, and a valley surface. A first nozzle having a first nozzle injects the paint onto a mountain face and a slope forming a ridgeline of the mountain, and a second nozzle having an axis directed toward a ridgeline of a valley deviated from the ridgeline by a multiple of one and a half periods. spraying paint onto the valley surface and slope surface forming the ridgeline of the valley, and performing the painting work while moving the first and second nozzles at a predetermined constant speed in the direction in which the ridgeline extends, After the painting process is completed, the first and second nozzles are shifted by a multiple of one cycle in the direction perpendicular to the ridge line to perform the next painting process, and this operation is repeated to paint the entire wall surface. This is an automatic painting method for a structure having a shaped surface.

A second aspect of the present invention provides an automatic painting apparatus for a structure having parallel side walls in a corrugated shape that periodically repeats a mountain surface, an inclined surface, and a valley surface, in which a pair of legs straddles the structure and has a pair of legs attached to the side wall. a gate-shaped frame that extends along a linear ridgeline of the side wall and is movable in a direction perpendicular to the ridgeline, and a movable frame that is provided on the leg and that is movable back and forth along the leg a first nozzle provided on the movable body and having an axis directed toward the ridgeline of the mountain of the side wall; a first nozzle disposed on the movable body at a distance from the first nozzle along the moving direction of the portal frame; and a second nozzle having an axis directed toward the ridgeline of the valley that is deviated from the ridgeline of the mountain by a multiple of one and a half periods.

Thirdly, the present invention provides an automatic painting apparatus for a structure having corrugated parallel side walls and a ceiling that periodically repeats a mountain surface, an inclined surface, and a valley surface, and includes a pair of legs that straddles the structure. a gate-shaped frame that is opposite to the side wall and extends along a straight ridge line of the side wall, has a connecting part that connects the leg parts, and is movable in a direction perpendicular to the ridge line; a first nozzle provided on the movable body and having an axis directed toward the ridgeline of the mountain of the side wall; arranged at a distance from the first nozzle along the movement direction,
a second nozzle having an axis directed toward the ridgeline of a valley deviated from the ridgeline of the mountain by a multiple of one and a half periods; a ceiling moving body provided at the connecting portion of the gate-shaped frame and movable along the connecting portion; a third nozzle provided on the ceiling moving body and having an axis directed toward the ridgeline of the mountain on the ceiling; disposed on the ceiling moving body at a distance from the third nozzle along the direction of the gate-shaped frame;
and a fourth nozzle having an axis directed toward the ridgeline of the valley that is deviated from the ridgeline of the mountain by a multiple of one and a half periods.

Fourthly, the present invention provides an automatic painting apparatus for a structure having parallel side walls, a ceiling, and an end wall in a corrugated shape that periodically repeats a mountain surface and an inclined surface. a connecting part that faces the side wall and extends along a straight ridge line of the side wall and connects the leg parts; and a guide member that is movable along the connecting part and hangs downward from the connecting part. a gate-shaped frame that is movable in a direction perpendicular to the ridge line; a movable body that is provided on the leg and is movable back and forth along the leg; a first nozzle having an axis directed toward the ridgeline of the mountain; disposed on the movable body at a distance from the first nozzle along the moving direction of the portal frame;
a second nozzle having an axis directed toward the ridgeline of a valley deviated from the ridgeline of the mountain by a multiple of one and a half periods; a ceiling moving body provided at the connecting portion of the gate-shaped frame and movable along the connecting portion; a third nozzle provided on the ceiling moving body and having an axis directed toward the ridgeline of the mountain on the ceiling; disposed on the ceiling moving body at a distance from the third nozzle along the direction of the gate-shaped frame;
a fourth nozzle having an axis directed toward the ridgeline of a valley that is deviated from the ridgeline of the mountain by a multiple of one and a half periods; a moving body for end wall painting that is provided on the guide member and is movable along the guide member; a fifth nozzle provided on the wall painting moving body and having an axis directed toward the ridgeline of the mountain of the end wall; and a fifth nozzle provided on the end wall painting moving body at a distance from the fifth nozzle along the moving direction of the guide member. and a sixth nozzle that is spaced apart and has an axis directed toward the ridgeline of a valley that is shifted from the ridgeline of the mountain by a multiple of one and a half periods. .

Effect: The first nozzle sprays paint toward the ridgeline of a mountain, and the second nozzle sprays paint toward the ridgeline of a valley, which is a multiple of one and a half cycles from both sides of the mountain. Therefore, the mountain faces and slopes forming the ridgelines of the mountains and the valley faces and slopes forming the ridgelines of the valleys are coated with a uniform thickness, and the first and second nozzles are painted with one cycle in the direction perpendicular to the ridgelines. Since the next painting operation is performed after shifting the number of times, it becomes possible to paint the entire surface of the corrugated shape.

Further, according to the present invention, a structure having parallel side walls in a corrugate shape is straddled by a gate-shaped frame, and the legs of the gate-shaped frame are provided with a moving body provided with a first nozzle and a second nozzle. After the moving body moves along the legs and paints a part of the side wall, the gate-shaped frame moves and the first and second nozzles start painting again, making automatic painting possible. become.

Furthermore, according to the present invention, a structure having parallel corrugated side walls and a ceiling is straddled by a portal frame, and the leg of the portal frame has a first
A movable body is provided with a nozzle and a second nozzle, a ceiling movable body is provided with a third nozzle and a fourth nozzle at a connecting part that connects the legs, and the movable body moves along the legs. After moving to paint a part of the side wall and the ceiling moving body moving along the connection part to paint a part of the ceiling, the portal frame moves again and the first nozzle, second nozzle, third nozzle, and Since painting is performed by the fourth nozzle, automatic painting becomes possible.

Furthermore, according to the present invention, a structure having parallel corrugated side walls, a ceiling and an end wall is straddled by a portal frame, and the legs of the portal frame are provided with a first nozzle and a second nozzle. A ceiling moving body is provided in which a third nozzle and a fourth nozzle are provided in a connecting part that connects the legs, and the ceiling moving body hangs downward from the connecting part and is movable along the connecting part. The guide member is equipped with an end wall painting moving body provided with a fifth nozzle and a sixth nozzle, and the moving body moves along the legs to paint a part of the side wall, and the ceiling moving body moves to the connecting part. After the portal frame moves along the wall and paints a part of the ceiling, the end wall painting moving body After the guide member moves along the guide member and paints a part of the end wall, the guide member moves along the connecting part and the fifth and sixth nozzles start painting again, so automatic painting is possible. It becomes possible.

Embodiment FIG. 1 is a perspective view of an embodiment of the present invention, and FIG. 2 is a simplified horizontal sectional view thereof. Marine containers 20a, 20b, 20c to be painted
(hereinafter generally designated by reference numeral 20) is a connector 21,
22, 23, and 24, and is moved in the direction of arrow 25 by a winch or the like, and thus a container designated by reference numeral 20b is carried into painting booth 26.

Inside the painting booth 26, rails 27 and 28 are installed along the transport direction 25 of the container 20. The rails 27 and 28 have a portal frame 29 in the transport direction 2.
It is provided so that it can be moved back and forth before and after 5. The gate-shaped frame 29 straddles the container 20. Gate frame 2
9 has a pair of leg parts 30, 31 and a connecting part 32 that connects them. One leg 30 is provided with a movable body 32 that is movable up and down in FIG. A first nozzle 33 and a second nozzle 34 are attached to this moving body 32. A horizontally extending elongated hole 35 is formed in the movable body 32, and a pin 36 is loosely engaged with the elongated hole 35. The pin 36 is fixed to an endless chain 37. This chain 37
is wrapped around sprocket foils 38 and 39 provided at the upper and lower parts of the leg portion 30,
This sprocket wheel 39 is rotationally driven by a motor 40. A rail 2 is provided at the bottom of the leg 30.
Wheels 41 and 42 for moving along the road 7 and a drive source for driving the wheels 41 and 42 are provided.
The other leg portion 31 has a similar configuration.

FIG. 3 is a perspective view of the side wall 43 of the container 20 being painted by the first and second nozzles 33, 34, and FIG. 4 is a simplified horizontal sectional view thereof. The side wall 43 has a mountain surface 44, a slope surface 45, a valley surface 46, and a slope surface 47 in this order in the conveying direction 25.
It is formed repeatedly. Mountain surface 44 and slope surface 4
The axis 49 of the first nozzle 33 extends toward the ridgeline 48 of the mountain formed by 5 and 5. This axis 4
The angle θ1 between 9, the mountain surface 44, and the slope surface 45,
θ2 are equal. Also, the width l1 of the mountain surface 44 and the slope surface 4
5, the width l3 of the valley surface 46, and the slope surface 47.
is equal to the width l4. The paint sprayed from the first nozzle 33 along the axis 49 is indicated by reference numeral 5.
1 and 52, and the mountain surface 44 and the slope surface 45 are coated with a uniform thickness. The axis 53 of the second nozzle 34 has a valley surface 46a and an inclined surface 47a.
The angles θ3 and θ4 formed by the axis 43, the valley surface 46a, and the inclined surface 47a are equal. As a result, the valley surface 46a
A coating film with a uniform thickness is formed on the inclined surface 47a. The paint from the second nozzle 34 is indicated by reference numeral 55,
It is spreading as shown by 56. At the side wall 43, θ1 = θ2 = θ3 = θ4. In this way, a portion of the side wall 43 is painted by the first nozzle 33 and the second nozzle 34. Thereafter, the first and second nozzles 33 and 34 move by one period W of the side wall 43 as the portal frame 29 moves, and come to the position indicated by reference numeral 32a. As a result, the first nozzle 33 comes to the position indicated by reference numeral 33a, so that the mountain surface 44b and the inclined surface 45b are painted, and the second nozzle 34 is moved to the position indicated by reference numeral 33a.
By coming to the position indicated by a, the valley surface 46
and the inclined surface 47 are coated with a uniform thickness.

The ridgelines 48 and 54 of the side wall 43 are perpendicular to the transport direction 25 of the container 20, and are vertical in the illustrated embodiment, and parallel to the direction of vertical movement of the first and second nozzles 33 and 34.

A rack 59 is fixed to the rail 27 in order to allow the portal frame 29 to move freely in the transport direction 25. A pinion 60 meshes with the rack 59. This pinion 60 is rotationally driven around a vertical axis by a motor 61 attached to the leg 30.

A ceiling moving body 62 is provided at a connecting portion 32 that connects the legs 30 and 31 of the gate-shaped frame 29 so as to be movable along the connecting portion 32, perpendicular to the transport direction 25 and horizontally. A long hole 63 is formed in the ceiling moving body 62, and an endless chain 6 is inserted into this long hole 63.
A pin 65 fixed to 4 is loosely inserted. chain 64
is wrapped around the sprocket wheels 66, 67. One sprocket wheel 66 is connected to the motor 70.
The ceiling moving body 62 is thus driven. The ceiling moving body 62 has third and fourth
Nozzles 68 and 69 are fixed.

The ceiling 71 of the container 20 has a corrugated shape similar to the side wall 43, and has a structure in which a mountain surface, a slope surface, and a valley surface are repeated in the conveyance direction 25 at the same period as the side wall 43, and the positions of these ridges are are present in the same vertical plane along with the ridgelines 48 and 54 of the side wall 43, respectively.

The third nozzle 68 and the fourth nozzle 69 are in a vertical plane passing through the first nozzle 33 and the second nozzle 34, respectively. Therefore, while the container 20 is in a stationary state, the gate-shaped frame 29 paints the side walls 43 and 60 while moving in the transport direction 25, and simultaneously paints the ceiling 71 with the third nozzle 68 and the fourth nozzle 69. be able to.

Although the above description has mainly been made regarding one leg 30, the movable body 72 is also provided in relation to the other leg 31 so as to be movable up and down. First and second nozzles 73 and 74 are attached to this moving body 72, and the side wall 60 is painted.

A guide member 75 is also provided in the connecting portion 32 .
2 so as to be movable horizontally. The upper end of the guide member 75 is fixed to the movable body 76. The movable body is provided with a pinion 78 that is rotationally driven by a motor 77. The pinion 78 meshes with a rack 79 installed along the connecting portion 32,
This allows the movable body 76 and the guide member 75 to travel and move. An end wall painting movable body 80 is provided on the guide member 75 so as to be vertically movable up and down along the guide member 75 . Fifth nozzles 82 and 84 and sixth nozzles 83 and 85 are fixed to the end wall painting moving body 80. Fifth nozzle 82,8
4 have one horizontal axis in common. Further, the sixth nozzles 83 and 85 have a common horizontal axis. The moving body 80 is driven by a configuration similar to that of the moving body 32.

The end walls 87 and 88 of the container 20 have a corrugated shape with a ridgeline extending vertically, and similarly to the side wall 43 described above, the crests and the valleys of the slopes are perpendicular to the conveyance direction, that is, the fifth It has a structure that repeats periodically in the left and right directions of the figure and FIG.
The fifth nozzles 82, 84 and the sixth nozzles 83, 85 have horizontal axes that extend toward the ridge lines of the corrugated end walls 87, 88 that are shifted by one and a half cycles.

FIG. 8 is a simplified cross-sectional view showing the container 20 and its vicinity. A longitudinal member 9 extending along the conveying direction 25 is provided at the lower and upper portions of the side wall 43.
1,92 are provided. It is desirable that the upwardly and downwardly facing projecting surfaces 91a and 92a of the longitudinal members 91 and 92 also be automatically painted. For this purpose, a nozzle 94 is arranged near the entrance 93 of the booth 26 (see FIG. 2). The axis 95 of this nozzle 94 faces the protruding surface 92a and is directed upward with respect to the horizontal surface. Therefore, container 2
0 is transported to the booth 26, this nozzle 9
4, the protruding surface 92a is painted, and the container 20
It is carried out along with the movement of Nozzle 94 is supported by support column 96 . A similar nozzle 97 is arranged corresponding to the other side wall 60.

In order to paint the protruding surface 91a of the longitudinal member 91, the axes 4 of the first and second nozzles 33, 34
9 and 53 are inclined downward with respect to the horizontal plane. Therefore, when the first and second nozzles 33 and 34 descend along the leg portion 30, the protruding surface 91a is painted.

FIG. 9 is a block diagram showing the electric circuit.
Motor 6 for moving the portal frame 29
1 is driven by a drive circuit 98. A processing circuit 100 realized by a microcomputer or the like has a target position setting device 101, and a position detector 102 for the target position set here.
A subtracter 104 calculates the difference between the current position detected by the subtractor 104 and the current position counted by the counter 103 . In proportion to this difference, the drive circuit drives the motor 40 and the portal frame 29 moves. Through this control, the gate-shaped frame 29 stops when the difference between the target position and the current position becomes zero. Painting number setting device 105,
The values set by the painting speed setting device 106 and the positioning interval setting device 107 are sent to the processing circuit 100 via interfaces 108, 109, and 110.
is input.

When the container 20 is carried into the booth 26 for painting as shown in FIG. 2, when it is detected by the magnetic proximity switch 130, the nozzle 93
The protruding surface 92a is painted by the same method, and the same applies to the nozzle 97. Thus, while the container 20 is passing through the magnetic proximity switch 130, the nozzles 93 and 97 perform painting. The container 20 is stopped in the booth 26 as shown in FIG.

(1) In the gate-shaped frame 29, the end wall painting moving body 80 is detected by the limit switch Sβ1 and is located at the origin in the β direction.

(2) Gate-shaped frame 29 is limit switch SX
1 and is located at the origin in the X direction.

(3) Then move the gate frame 29 so that the magnetic proximity switch attached to the gate frame 29 is next to the container 20, and the end wall 8 of the container 20
8, set this position as XF0, and set this position as
Move the portal frame 29 to XF0.

(4) Next, move from XF0 to XF. This amount of movement can be calculated in advance from the method of the portal frame 29 and the mounting position of the proximity switch.

(5) Move the moving body 76 to the first
Move to coating position βF1.

(6) The moving body 80 is moved up and down in the α direction to paint the end wall 88 using the nozzles 84 and 85.

(7) Thereafter, the movable body 76 is moved in the β direction to position βF2, and the movable body 80 performs painting movement in the α direction.

(8) In the same manner, painting is performed while moving equidistantly to position βFn.

(9) When the painting at position βFn is completed, the moving body 76 is returned until it is detected by the limit switch Sβ1.

(10) Move the gate-shaped frame 29 to the first painting position X1 of the side walls 43, 60 and ceiling 71.
The amount of movement at this time is calculated in advance as a relative amount from position XF0.

(11) Moving body 6 in the Y direction and Z direction at this position X1
2; Move 32 and 72 and perform painting.

(12) After the painting is completed, the gate-shaped frame 29 is moved by a predetermined distance and painting is performed again at position X2.

(13) In the same way, while moving the same distance,
Repeat until painting with Xn is finished.

(14) Paint the gate frame 29 on the end wall 87 at position X
Move it to 12. This amount of movement is also at position XF0
It is calculated in advance from the relative position from .

(15) At this position X12, in order to paint the end wall 87, the nozzle 8 is
Start painting from position βR1 using 2.83,
Painting is carried out up to the end position βRn.

(16) When painting at position βRn is completed, moving object 8
0 until detected by limit switch Sβ1, and then returned until detected by limit switch SX1.

The present invention is implemented in conjunction with conveyances other than containers. In order to paint a corrugated shape, in the above-mentioned example, painting was carried out while moving at an equal distance by one and a half cycles, but it is also possible to paint while moving at an equal distance by a multiple of one and a half cycles. good.

Effects As described above, according to the present invention, a corrugated surface can be automatically painted. Therefore, a uniform coating film can be obtained over the entire surface. Therefore, the quality of the product can be improved and stabilized. Furthermore, the number of painting workers can be reduced, and painting costs can be reduced.
Moreover, since it is possible to apply a uniform film over the entire surface, it is possible to achieve the target thickness on the entire surface.
The amount of paint used can be reduced. Paint workers are freed from the bad painting environment, and furthermore, unmanned painting becomes possible.

Furthermore, according to the present invention, when the ceiling and the side surfaces have a corrugated shape, the ceiling and the side surfaces can be painted at the same time.

Furthermore, according to the present invention, when the end surfaces, the ceiling, and the side surfaces have a corrugated shape, the end surfaces, the ceiling, and the side surfaces can be painted.

[Brief explanation of drawings]

1 is a simplified perspective view of the present invention, FIG. 2 is a simplified horizontal sectional view of an embodiment thereof, FIG. 3 is a perspective view of a portion of the side wall 43, and FIG. 4 is a sectional view of the side wall 43. , FIG. 5 is a front view of the portal frame 29, FIG. 6 is a side view of the portal frame 29, FIG. 7 is a plan view of the portal frame 29, and FIG. 8 is a simplified view of the container 20 and its vicinity. 9 is a block diagram of the electric circuit, FIG. 10 is a plan view for explaining the painting operation, and FIG. 11 is a sectional view of the side wall 1 for explaining the prior art. 20...Container, 29...Gate frame, 3
2, 72... Moving body, 33, 73... First nozzle, 34, 74... Second nozzle, 44... Mountain surface,
45, 47... Slope surface, 46... Valley surface, 48...
Mountain ridgeline, 54... Valley ridgeline.

Claims (1)

[Scope of Claims] 1. In an automatic coating method for a structure having a corrugated surface that periodically repeats a mountain surface, an inclined surface, and a valley surface, by a first nozzle having an axis directed toward the ridge of the mountain, Paint is injected onto the mountain faces and slopes that form the ridgeline of the mountain, and the paint is sprayed onto the ridgeline of the valley by a second nozzle having an axis directed toward the ridgeline of the valley, which is offset by a multiple of one and a half periods from the ridgeline of the mountain. Paint is sprayed onto the valley and slope surfaces that form the ridgeline, and the first and second nozzles are moved at a predetermined constant speed in the direction in which the ridgeline extends, and the painting process is performed.After the painting process is completed, the first and second nozzles are Automatic painting of a structure having a corrugated shape, characterized in that the second nozzle is shifted by a multiple of one cycle in the direction perpendicular to the ridgeline to perform the next painting operation, and such operation is repeated to paint the entire wall surface. Method. 2. In an automatic painting device for a structure having a corrugated parallel side wall that periodically repeats a mountain surface, an inclined surface, and a valley surface, a pair of legs straddles the structure, and has a pair of legs facing the side wall and facing the side wall. a gate-shaped frame that extends along a linear ridge line and is movable in a direction perpendicular to the ridge line; a movable body that is provided on the leg portion and is movable back and forth along the leg portion; and the movable body a first nozzle provided on the movable body and having an axis directed toward the ridgeline of the mountain of the side wall; disposed on the movable body at a distance from the first nozzle along the moving direction of the portal frame;
and a second nozzle having an axis directed toward the ridgeline of the valley that is deviated from the ridgeline of the mountain by a multiple of one and a half periods. 3. In an automatic painting device for a structure having corrugated parallel side walls and a ceiling that periodically repeat mountain faces, slope faces, and valley faces, a pair of legs straddle the structure and face the side walls. and a gate-shaped frame that extends along a straight ridge line of the side wall, has a connecting part that connects the leg parts, and is movable in a direction perpendicular to the ridge line; a first nozzle provided on the movable body and having an axis directed toward the ridgeline of the mountain of the side wall; arranged at a distance from the first nozzle,
a second nozzle having an axis directed toward the ridgeline of a valley deviated from the ridgeline of the mountain by a multiple of one and a half periods; a ceiling moving body provided at the connecting portion of the gate-shaped frame and movable along the connecting portion; a third nozzle provided on the ceiling moving body and having an axis directed toward the ridgeline of the mountain on the ceiling; disposed on the ceiling moving body at a distance from the third nozzle along the direction of the gate-shaped frame;
an automatic coating apparatus for a structure having a corrugated surface, characterized in that the fourth nozzle has an axis directed toward the ridgeline of the valley that is deviated from the ridgeline of the mountain by a multiple of one and a half cycles. 4. In an automatic painting device for a structure having corrugate-shaped parallel side walls, a ceiling, and end walls that periodically repeat mountain faces and sloped faces, a pair of legs straddles the structure, and has a pair of legs facing the side walls and A connecting portion extending along a linear ridge line of the side wall and connecting the legs, and a guide member movable along the connecting portion and hanging downward from the connecting portion, a gate-shaped frame that is movable in a vertical direction; a movable body that is provided on the leg and that can reciprocate along the leg; and a movable body that is provided on the movable body that has an axis that extends toward the ridge of the mountain of the side wall. a first nozzle having: a first nozzle disposed on the movable body at a distance from the first nozzle along the moving direction of the portal frame;
a second nozzle having an axis directed toward the ridgeline of a valley deviated from the ridgeline of the mountain by a multiple of one and a half periods; a ceiling moving body provided at the connecting portion of the gate-shaped frame and movable along the connecting portion; a third nozzle provided on the ceiling moving body and having an axis directed toward the ridgeline of the mountain on the ceiling; disposed on the ceiling moving body at a distance from the third nozzle along the direction of the gate-shaped frame;
a fourth nozzle having an axis directed toward the ridgeline of a valley that is deviated from the ridgeline of the mountain by a multiple of one and a half periods; a moving body for end wall painting that is provided on the guide member and is movable along the guide member; a fifth nozzle provided on the wall painting moving body and having an axis directed toward the ridgeline of the mountain of the end wall; and a fifth nozzle provided on the end wall painting moving body at a distance from the fifth nozzle along the moving direction of the guide member. an automatic coating device for a structure having a corrugated surface, characterized in that the sixth nozzle is spaced apart and has an axis directed toward the ridgeline of the valley that is deviated from the ridgeline of the mountain by a multiple of one and a half cycles.