| 摘要 |
<p>The present invention is provided with: a pressing member which receives reaction force from a packaged article; an actuator (20) which is driven on the basis of a command value and moves the pressing member with respect to the packaged article; a position detection means (30) which detects a position to which the pressing member is moved by the actuator (20), and outputs a position signal; a disturbance observer (40) which estimates a disturbance applied to the actuator (20); and a control unit which controls the actuator (20) on the basis of the disturbance estimated by the disturbance observer (40). Further, on the basis of the command value inputted to the actuator (20), the position signal from the position detection means (30), and the estimated value of external force applied to the actuator (20) in the state in which the pressing member is not in contact with the packaged article, a reaction force estimation means (50) estimates reaction force acting on the actuator (20) from the packaged article via the pressing member. Using the reaction force estimated by the reaction force estimation means (50), a leak determination means (60) determines the presence or absence of a leak in the packaged article.</p> |
