Patent ID: 9718617
Date: 2017-08-01
CPC Classifications: B65G,H02P

Claim:
1. An article transfer device configured to move an article along a transfer direction comprising: a contact member configured to be moved along the transfer direction to contact an article and to move the article; an actuating mechanism which includes an electric motor for moving the contact member along the transfer direction; and an actuation controller configured to control operation of the actuating mechanism; wherein, when an external force applied condition that an external force causing a decrease in a rotational speed of the electric motor is applied to the contact member moved by the electric motor, the contact member being moved while the actuation controller is performing a first control for continuously performing a process of providing the electric motor with a command value, said command value depending on an error between an actual rotational speed of the electric motor and a first target rotational speed so as to cause the actual rotational speed to approach the first target rotational speed, then the actuation controller, subsequent to the first control, performs a second control for providing the electric motor with a command value that allows the actual rotational speed to be equal to, and to fall below, the first target rotational speed at a time when the external force applied condition is satisfied.