An article transferring device with a robot. An image processing section includes an article detecting section for executing image capturing and detection of articles that move according to a conveying motion of a conveyor, with a first period allowing all of the articles to be captured and detected, and obtain initial position information of each of all articles; and an article tracking section for executing image capturing and detection of the articles that move according to the conveying motion of the conveyor, with a second period shorter than the first period, and obtain shifted position information of each article iteratively with the second period, the shifted position information being based on the initial position information. A robot controlling section is configured to control the robot by using the shifted position information, so as to make the robot hold and transfer each article while following the conveying motion of the conveyor.