Patent Publication Number: US-2011070056-A1

Title: High accuracy transfer system for intact filling

Description:
BACKGROUND 
     1. Technical Field 
     The present disclosure relates to a system and method for helping to maintain the position and orientation of a work piece throughout the filling and packaging process. 
     2. Description of the Related Art 
     Machines which are used for pierce filling and laser heat sealing of the filing holes on a work piece require that the orientation and position be maintained from one operation to another. In conventional machines, the stretch, wear and tear, and backlash from the chain, sprockets, couplings, mountings, indexers and reducers can effect the orientation and position of the work piece. Work pieces also very greatly in dimension and thus are difficult to transfer consistently and accurately from one operation station to another. 
     SUMMARY 
     In accordance with an embodiment of the present disclosure, a transfer system is provided, the transfer system including at least one base structure having at least one fixture retaining member disposed along a length thereof. Each fixture retaining member is configured to detachably secure a fixture thereon. A transfer carriage is configured to transport at least one fixture from a first position wherein each fixture is detachably secured to one of the fixture retaining members of the base structure to a second position wherein each fixture is detachably secured to another fixture retaining member of the same base structure. 
     The transfer system may further include at least one side transfer arm. Each side transfer arm may be configured to transport at least one fixture from the first position to a third position wherein each fixture is detachably secured to a fixture retaining member of a different base structure. 
     In a disclosed embodiment, each fixture retaining member includes at least one peg and each fixture defines at least one aperture therein such that each peg is configured to engage a corresponding aperture and retain the fixture thereon. The transfer carriage may include at least one recess which is configured to retain a fixture therein during transportation from the first position to the second position. 
     Each fixture may be configured to retain at least one work piece thereon. A gripper may be provided on each fixture, the gripper being configured to retain a work piece thereon. Each gripper may also be configured to at least partially surround a work piece, wherein each gripper secures the work piece by engaging the cap of each work piece. 
     In accordance with another embodiment of the present disclosure, a transfer system is provided, the transfer system including first and second base structures disposed adjacent each other wherein each base structure includes at least one fixture retaining member disposed along a length thereof. Each fixture retaining member is configured to detachably secure a fixture thereon. A first transfer carriage is configured to transfer at least one fixture from a fixture retaining member of the first base structure to another fixture retaining member of the first base structure and a second transfer carriage is configured to transfer at least one fixture from a fixture retaining member of the second base structure to another fixture retaining member of the second base structure. A first side transfer arm is configured to transfer at least one fixture from a fixture retaining member of the first base structure to a fixture retaining member of the second base structure and a second side transfer arm is configured to transfer at least one fixture from a fixture retaining member of the second base structure to a fixture retaining of the first base structure. 
     A method of transferring work pieces is also provided in accordance with the present disclosure, the method including the steps of providing a transfer system, engaging the transfer carriage with at least one fixture disposed in the first position, lifting the transfer carriage such that the at least one fixture is lifted from the first position, moving the transfer carriage such that the at least one fixture is transported to a location above the second position, lowering the transfer carriage such that the at least one fixture is lowered into the second position and disengaging the transfer carriage from the at least one fixture. The transfer system includes at least one base structure having at least one fixture retaining member disposed along a length thereof. Each of the fixture retaining members is configured to detachably secure a fixture thereon. A transfer carriage is configured to transport at least one fixture from a first position wherein each fixture is detachably secured to one of the fixture retaining members of the at least one base structure to a second position wherein each fixture is detachably secured to another fixture retaining member of the same base structure. 
     In another disclosed embodiment, the transfer system provided in the method further includes at least one side transfer arm. Each side transfer arm may be configured to transport at least one fixture from the first position to a third position wherein each fixture is detachably secured to a fixture retaining member of another base structure. 
     The method may also include the steps of engaging at least one side transfer arm with at least one fixture disposed in the first position, lifting the at least one side transfer arm such that the at least one fixture is lifted from the first position, moving the at least one side transfer arm such that the at least one fixture is transported to a location above the third position, lowering the at least one side transfer arm such that the at least one fixture is lowered into the third position and disengaging the at least one side transfer arm from the at least one fixture. 
     Each of the at least one fixture retaining member may include at least one peg and each fixture may defines at least one aperture therein such that each peg is configured to engage a corresponding aperture and retain the fixture thereon. 
     In a disclosed embodiment, the transfer carriage includes at least one recess wherein each recess is configured to retain a fixture therein during transportation from the first position to the second position. Each fixture may be configured to retain at least one work piece thereon. At least one gripper may be provided on each fixture, each gripper being configured to retain a work piece thereon. Each gripper may also be configured to at least partially surround a work piece wherein each gripper secures the work piece by engaging the cap of each work piece. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       Various embodiments of the presently disclosed high accuracy transfer system are described herein with reference to the drawings wherein: 
         FIG. 1  is a perspective view of a transfer system in accordance with an embodiment of the present disclosure; 
         FIGS. 2A-E  are perspective views of the transfer system of  FIG. 1 , showing two fixtures being transferred from a first position to a second position; 
         FIG. 3A  is a perspective view of the transfer system of  FIG. 1 , showing two fixtures, each fixture retaining three work pieces thereon via grippers; 
         FIG. 3B  is a perspective view of a work piece of  FIG. 3A , showing a gripper partially surrounding the work piece and engaging the work piece at a cap of the work piece, in accordance with an embodiment of the present disclosure; 
         FIG. 4A  is a perspective view of a transfer system in accordance with another embodiment of the present disclosure; 
         FIG. 4B  is an exploded perspective view of the fixtures of  FIG. 4A ; 
         FIG. 5  is a perspective view of the transfer system of  FIG. 4A , wherein side transfer arms have begun to transport fixtures; 
         FIG. 6  is a perspective view of the transfer system of  FIGS. 4A and 5 , wherein the side transfer arms have transported the fixtures to above a third position; 
         FIG. 7  is a perspective view of the transfer system of  FIGS. 4-6 , wherein the side transfer arms have been disengaged from the fixture; 
         FIG. 8  is a perspective view of the transfer system of  FIGS. 4-7 , wherein the transfer carriage engages at least one fixture; and 
         FIG. 9  is a perspective view of the transfer system of  FIGS. 3-8 , wherein the transfer carriage has transported the fixtures to a second position. 
     
    
    
     DETAILED DESCRIPTION 
     Embodiments of the presently disclosed transfer system will now be described in detail with reference to the drawings, in which like reference numerals designate identical or corresponding elements in each of the several views. 
     The presently disclosed transfer systems are configured such that work pieces are maintained in a substantially fixed orientation and position on a fixture throughout the transferring of the fixtures from different locations. Maintaining a fixed orientation and position of the work piece helps create a high-accuracy system applicable to transferring, filling, sealing, and other operations. 
     Referring now to the drawings,  FIG. 1  illustrates a transfer system  10  including a base structure  100 . Base structure  100  includes two substantially parallel beams  110 ,  160  spaced a distance  140  apart and connected via connector beams  150 . Beam  110  of base structure  100  includes fixture retaining members  111 - 116  disposed along a length thereof. Similarly, beam  160  of base structure  100  includes corresponding fixture retaining members  161 - 166  disposed along a length thereof. Beams  110 ,  160  are shown having six fixture retaining members  111 - 116 ,  161 - 166  each, however it is envisioned and within the scope of the present disclosure, that more or fewer fixture retaining members may be provided. Each fixture retaining member  111 - 116  and corresponding fixture retaining member  161 - 166  are configured to detachably retain a fixture thereon. Fixture retaining members  111 - 116 ,  161 - 166  are shown as pegs  111 - 116 ,  161 - 166  in the illustrated embodiments; however it is envisioned that the fixture retaining members  111 - 116 ,  161 - 166  may be any mechanism configured to detachably retain a fixture thereon. 
     Fixtures  310 ,  330  are configured to releasably secure at least one work piece thereon. As shown in  FIG. 1 , three work pieces  411 ,  412 ,  413  are secured on fixture  310  and three work pieces  431 ,  432 ,  433  are secured on fixture  330 . However, it is envisioned that the fixtures  310 ,  330  may be configured such that more or fewer work pieces may be releasably secured thereon. It is also envisioned that at least one work piece holding device, such as grippers  311 ,  312 ,  313 ,  331 ,  332 ,  333  may be disposed on fixtures  310 ,  330 , respectively, in order to hold work pieces  411 ,  412 ,  413 ,  431 ,  432 ,  433 , respectively, in a substantially fixed orientation and position. 
     In the embodiment of  FIG. 1 , fixture  310  defines apertures  317 ,  318  therein and fixture  330  defines apertures  337 ,  338  therein. Each fixture  310 ,  330  may define two apertures, one aperture defined at a first end thereof and the other aperture defined at a second end thereof. As shown in  FIG. 1 , fixture  310  defines aperture  317  at first end  315  and defines aperture  318  at second end  316 . Similarly, fixture  330  defines aperture  337  at first end  335  and defines aperture  338  at second end  336 . The apertures  317 ,  337 ,  318 ,  338  are configured such that pegs  112 ,  113 , and  162 ,  163  disposed on beams  110 ,  160  respectively, may engage fixtures  310 ,  330  and detachably retain fixtures  310 ,  330  thereon. As shown in  FIG. 1 , pegs  112 ,  162  of beams  110 ,  160 , respectively are engaging apertures  317 ,  318  of fixture  310 , detachably retaining fixture  310  thereon. Pegs  113 ,  163  of beams  110 ,  160 , respectively are engaging apertures  337 ,  338  of fixture  330 , detachably retaining fixture  330  thereon. In such a configuration, work pieces  411 ,  412 ,  413  are held in a substantially fixed position and orientation on fixture  310  by grippers  311 ,  312 ,  313  and fixture  310  is held in a substantially fixed position and orientation by the fixture retaining members  112 ,  162  of the base structure  100 . Similarly, work pieces  431 ,  432 ,  433  are held in a substantially fixed position and orientation on fixture  330  by grippers  331 ,  332 ,  333  and fixture  330  is held in a substantially fixed position and orientation by the fixture retaining members  113 ,  163  of the base structure  100 . Thus, this combination maintains a fixed orientation and position of each work piece  411 ,  412 ,  413 ,  431 ,  432 ,  433 . Furthermore, the spacing between pegs  111 - 116 ,  161 - 166  may be uniform or different distances. 
     Fixtures  310 ,  330  may further be configured such that a length of fixtures  310 ,  300  is greater than the distance  140  between beams  110  and  160 . Thus, when the fixture retaining members  112 ,  162 ,  113 ,  163  engage fixtures  310 ,  330  (e.g. through a peg-aperture connection), a portion of each fixture extends beyond each beam  110 ,  160  of base structure  100 , thereby creating an over-hang. 
     With continued reference to  FIG. 1 , a transferring carriage  200  is shown including beams  210  and  260 . Beams  210 ,  260  of transfer carriage  200  are substantially parallel and spaced a fixed distance  240  apart. The distance  240  between beam  210  and beam  260  of transfer carriage  200  may be greater than the distance  140  between beam  110  and beam  160  of base structure  100  such that transfer carriage  200  may surround base structure  100 , as shown in  FIG. 1 . Each beam  210 ,  260  of transfer carriage  200  may also include at least one recess. Each recess  211 - 217 ,  261 - 267  may be configured to retain a portion of a fixture therein. Specifically, each recess  211 - 217 ,  261 - 267  may be configured to accept an end portion  315 ,  316 ,  335 ,  336  of a fixture  310 ,  330  which over-hangs the base structure  100  as described above. 
     Referring now to  FIGS. 2A-E , the operation of transfer system  10  in accordance with one embodiment of the present disclosure will now be discussed. As shown in FIG.  2 A, fixture  310  is detachably secured to base structure  100  via the engagement of peg  112  and aperture  317  at one end  315  and the engagement of peg  162  and aperture  318  at the other end  316 . Similarly, fixture  330  is detachably secured to base structure  100  via the engagement of peg  113  and aperture  337  at one end  315  and the engagement of peg  163  and aperture  338  at the other end  316 . As a point of reference, the position illustrated in  FIG. 2A  and described above may be an at-rest or first position. Transfer carriage  200  is positioned below base structure  100 . Transfer carriage  200  is then translated upwardly relative to base structure  100  in the direction of arrow A. As transfer carriage  200  is moved farther in the direction of arrow A, it eventually contacts fixtures  310 ,  330 . The recesses  212 ,  213 ,  262 ,  263  on beams  210  and  260  of transfer carriage  200  engage each end portion  315 ,  335 ,  316 ,  336  of fixtures  310 ,  330 , respectively, which overhang base structure  100 . As transfer carriage  200  is moved even farther in the direction of arrow A, fixture ends  315 ,  335 ,  316 ,  336 , which are now partially disposed within recesses  212 ,  213 ,  262 ,  263 , respectively, are lifted along with transfer carriage  200 . As the fixtures  310 ,  330  are lifted along with transfer carriage  200 , pegs  112  and  162  disengage from apertures  317  and  318  and pegs  113  and  163  disengage from apertures  337  and  338 , respectively. Upward movement maintains the relative position of work pieces  411 ,  412 ,  413 ,  431 ,  432 ,  433  with respect to transfer carriage  200  of transfer system  10 . 
     Muhammad, we need additional information as to how the system moves the beams of the transfer carriage both vertically and horizontally. I presume you would employ an electric motor coupled to the beams using gears, pulleys, or the like. Also, what type of controller is coupled to the system for regulating the movement of the beams? We would also appreciate line drawings for the two systems so we do not have to employ the services of a draftsman to prepare the drawings for filing in the USPTO. Any additional information you could provide would be greatly appreciated. 
     Referring now to  FIG. 2B , transfer carriage  200  is positioned above base structure  100  (as a result of the movement described above in connection with  FIG. 2A ), thereby suspending fixtures  310 ,  330  above base structure  100 . Apertures  317 ,  318  are positioned directly above pegs  112 ,  162 , respectively and apertures  337 ,  338  are positioned directly above pegs  113 ,  163 , respectively. Transfer carriage  200 , and thus fixtures  310 ,  330 , are then moved in the direction of arrow B relative to base structure  100 . Transfer carriage  200  moves fixtures  310 ,  330  in the direction of arrow B until apertures  317 ,  318  are positioned directly above pegs  113 ,  163 , respectively and apertures  337 ,  338  are positioned directly above pegs  114 ,  164 , respectively. 
     Once transfer carriage  200  has moved fixtures  310 ,  330  such that  317 ,  318  are positioned directly above pegs  113 ,  163 , respectively and apertures  337 ,  338  are positioned directly above pegs  114 ,  164 , respectively, transfer carriage  200  is lowered with respect to base structure  100  in the direction of arrow C as shown in  FIG. 2C . Transfer carriage  200  lowers fixtures  310 ,  330  in the direction of arrow C until pegs  113 ,  163  of base structure  100  engage apertures  317 ,  318  of fixture  310 , respectively and pegs  114 ,  164  of base structure  100  engage apertures  337 ,  338  of fixture  330 , respectively. Transfer carriage  200  is lowered farther such that transfer carriage  200  is disengaged from fixtures  310 ,  330 , as shown in  FIG. 2D . 
       FIG. 2E  shows fixtures  310 ,  330  detachably secured to base structure  100  via the engagement of pegs  113 ,  114  of beam  110  to the respective apertures  317 ,  337  of fixtures  310 ,  330  and via the engagement of pegs  163 ,  164  of beam  160  to the respective apertures  318 ,  338  of fixtures  310 ,  330 . As illustrated in  FIG. 2E , fixtures  310  and  330  are in a second position. 
       FIGS. 2A-E  illustrate one operation of transfer system  10  in which fixtures  310 ,  330  are moved from the first position wherein fixtures  310 ,  330  are retained by fixture retaining members  112 ,  162  and  113 ,  163 , respectively, of base structure  100  to the second position wherein fixtures  310 ,  330  are retained by fixture retaining members  113 ,  163  and  114 ,  164 , respectively, of base structure  100 . Fixtures  310 ,  330  are transported from the first position to the second position while substantially maintaining the position and orientation of the work pieces  411 ,  412 ,  413 ,  431 ,  432 ,  433  with respect to the fixtures  310 ,  330  and to base  100 . 
     Simply by way of example, two fixtures  310 ,  330  are transported from a first position to a second position in  FIGS. 2A-E . However, it is envisioned that more or fewer fixtures may be transported by the transfer carriage  200 . It is also within the scope of, and contemplated by, the present disclosure that the fixtures  310 ,  330  be transported such that the fixtures  310 ,  330  are transferred to different operational stations along the base structure  100 , such as filling stations and sealing stations. The first and second positions are simply used to represent two different positions and are not intended to define specific locations. As will be described hereinbelow, it is also envisioned that the fixtures may be transported from one base structure to another base structure. 
     Referring now to  FIG. 3A , two fixtures  310 ′ and  330 ′ are shown in which another embodiment of the grippers is shown. In the embodiment shown in  FIG. 3A , fixture  310 ′ includes work pieces  411 ′,  412 ′,  413 ′ and fixture  330 ′ includes work pieces  431 ′,  432 ′,  433 ′. Grippers  311 ′,  312 ′,  313 ′,  331 ′,  332 ′,  333 ′ are partially surrounding work pieces  411 ′,  412 ′,  413 ′,  431 ′,  432 ′,  433 ′, respectively. Referring now to  FIG. 3B , an enlarged work piece  411 ′ is shown, including work piece cap  411   x ′. Gripper  311 ′ is partially surrounding work piece  411 ′ with a first part  311   a ′ surrounding one side of work piece  411 ′ and a second part  311   b ′ surrounding an opposite side of work piece  411 ′. First and second parts  311   a ′,  311   b ′ of gripper  311 ′ surround and engage cap  411   x ′ of work piece  411 ′, thereby securing work piece  411 ′ in a substantially fixed orientation and position. Gripper  311 ′ is secured to fixture  310 ′ such that work piece  411 ′ is secured in a substantially fixed orientation and position to fixture  310 ′. While the specific embodiment of the grippers in  FIGS. 3A-B  are shown and described, it is contemplated that any gripper system in which a work piece is held in a substantially fixed orientation and position on the fixture is within the scope of the present disclosure. 
     In another embodiment in accordance with the present disclosure, illustrated in  FIGS. 4-9 , transfer system  20  comprises a first base structure  1100  and a second base structure  2100  disposed adjacent to first base structure  1100 . First and second base structures  1100 ,  2100  are substantially similar to one another. First base structure  1100  includes beams  1110 ,  1160 , separated a fixed distance  1140  apart. Similarly, second base structure  2100  includes beams  2110 ,  2160 , separated a fixed distance  2140  apart. Beam  1110  of first base structure  1100  includes fixture retaining members  1111 - 1116  disposed along a length thereof. Beam  1160  of first base structure  1100  includes corresponding fixture retaining members  1161 - 1166  disposed along a length thereof. Beam  2110  of second base structure  2100  includes fixture retaining members  2111 - 2116  disposed along a length thereof. Beam  2160  of second base structure  2100  includes corresponding fixture retaining members  2161 - 2166  disposed along a length thereof. While six fixture retaining members are shown disposed on each of beams  1110 ,  1160 ,  2110 ,  2160 , it is envisioned that more or fewer fixture retaining members  1111 - 1116 ,  1161 - 1166 ,  2111 - 2116 ,  2161 - 2166  may be provided. Each fixture retaining member  1111 - 1116 ,  2111 - 2116  and corresponding fixture retaining member  1161 - 1166 ,  2161 - 2166  are configured to detachably retain a fixture thereon. Fixture retaining members  1111 - 1116 ,  1161 - 1166 ,  2111 - 2116 ,  2161 - 2166  are shown as pegs  1111 - 1116 ,  1161 - 1166 ,  2111 - 2116 ,  2161 - 2166  in the illustrated embodiments, however it is envisioned that the fixture retaining members  1111 - 1116 ,  1161 - 1166 ,  2111 - 2116 ,  2161 - 2166  may be any mechanism configured to detachably retain a fixture thereon. 
     A first transfer carriage  1200  is provided in connection with the first base structure  1100 . A second transfer carriage  2200  is also provided, the second transfer carriage  2200  being associated with the second base structure  2100 . The first base structure  1100  and first transfer carriage  1200  and the second base structure  2100  and second transfer carriage  2200  may be configured substantially similarly to base structure  100  and transfer carriage  200  of transfer system  10 , discussed above and illustrated in FIGS.  1  and  2 A-E. In this configuration, the distance  1240  between beams  1210  and  1260  of first transfer carriage  1200  would be greater than the distance  1140  between beams  1110  and  1160  of first base structure  1100 , such that first transfer carriage  1200  may surround first base structure  1100 . The distance  2240  between beams  2210  and  2260  of second transfer carriage  2200  would also be greater than the distance  2140  between beams  2110  and  2160  of second base structure  2100 , such that second transfer carriage  2200  may surround second base structure  2100 . First and second base structures  1100 ,  2100  may include at least one fixture retaining member, which may be a peg, and first and second transfer carriages  1200 ,  2200  may included at least one recess. The operation of each base structure  1100 ,  2100  and corresponding transfer carriage  1200 ,  2200  would operate in substantially the same manner as described above in connection with transfer system  10 , comprising a single base structure  100  and transfer carriage  200 . 
     Alternatively, both base structures  1100 ,  2100  and respective transfer carriages  1200 ,  2200  may be configured as shown in  FIGS. 4-9 . As illustrated in  FIG. 4A , first base structure  1100  includes beams  1110 ,  1160  separated by a distance  1140 . First transfer carriage  1200  includes beams  1210 ,  1260  separated by a distance  1240 , which is smaller than distance  1140 . Thus, as shown in  FIG. 4A , first base structure  1100  may surround first transfer carriage  1200 . Similarly, second base structure  2100  includes beams  2110 ,  2160  separated by a distance  2140 . Second transfer carriage  2200  includes beams  2210 ,  2260  separated by a distance  2240 , smaller than distance  2140 , such that second base structure  2100  may surround second transfer carriage  2200 . In this configuration, first and second transfer carriages  1200 ,  2200  contain at least one peg disposed along a length thereon. First and second base structures  1100 ,  2100  also include at least one peg disposed along a length thereon configured to detachably secure a fixture thereon, as described above in connection with transfer system  10 . 
     With reference to  FIG. 4B , each of fixtures  1310 ,  1330 ,  1350 ,  1370 ,  1390 ,  2310 ,  2330 ,  2350 ,  2370 ,  2390  include three apertures defined at a first end and three apertures defined at a second end. Fixtures also include grippers secured on each of the fixtures to retain work pieces thereon. Work pieces may be secured to any of the fixtures by the grippers. The grippers are configured to hold work pieces in a substantially fixed orientation and position. 
     More specifically, as shown in  FIG. 4B , fixture  1310  defines apertures  1317   a - c  at a first end  1315  thereof and defines apertures  1318   a - c  at a second end  1316  thereof. Fixture  1310  also includes gripper  1311 ,  1322  for retaining work pieces thereon. Fixtures  1330 ,  1350 ,  1370 ,  1390 ,  2310 ,  2330 ,  2350 ,  2370 ,  2390  are configured in substantially the same manner as fixture  1310 . Thus, each fixture includes three apertures defined at a first end and three apertures defined at a second end. Each fixture also includes two grippers for retaining work pieces thereon, although it is envisioned that more or fewer grippers may be provided. 
     Generally, the outer apertures ( 1317   a ,  1337   a ,  1357   a  . . . ,  1318   a ,  1338   a ,  1358   a  . . .  2317   a ,  2337   a ,  2357   a  . . . ,  2318   a ,  2338   a ,  2358   a  . . . ) are configured such that the pegs disposed on the corresponding base structure ( 1100  for  13 ** a  apertures,  2100  for  23 ** a  apertures) respectively, may engage the outer apertures and detachably retain the fixtures thereon. As shown in  FIG. 4A , base  1100  includes pegs  1111 - 1115  of beam  1110  engaging outer apertures  1317   a ,  1337   a ,  1357   a ,  1377   a ,  1397   a  of fixtures  1310 ,  1330 ,  1350 ,  1370 ,  1390 , respectively, detachably retaining the fixtures thereon. Similarly, pegs  1161 - 1165  of beam  1160  respectively are engaging outer apertures  1318   a ,  1338   a ,  1358   a ,  1378   a ,  1398   a  of fixtures  1310 ,  1330 ,  1350 ,  1370 ,  1390 , respectively, detachably retaining the fixtures thereon. Base  2100  includes pegs  2112 - 2116  of beam  2110  engaging outer apertures  2317   a ,  2337   a ,  2357   a ,  2377   a ,  2397   a  of fixtures  2310 ,  2330 ,  2350 ,  2370 ,  2390 , respectively, detachably retaining the fixtures thereon. Similarly, pegs  2162 - 1166  of beam  2160  respectively are engaging outer apertures  2318   a ,  2338   a ,  2358   a ,  2378   a ,  2398   a  of fixtures  2310 ,  2330 ,  2350 ,  2370 ,  2390 , respectively, detachably retaining the fixtures thereon. In such a configuration, the fixtures are held in a substantially fixed position and orientation by the fixture retaining members of the base structures, as described above and the work pieces may held in a substantially fixed position and orientation on the fixtures by the grippers, as described above. 
     With continued reference to  FIG. 4B , the middle apertures ( 1317   b ,  1337   b ,  1357   b  . . . ,  1318   b ,  1338   b ,  1358   b  . . .  2317   b ,  2337   b ,  2357   b  . . . ,  2318   b ,  2338   b ,  2358   b  . . . ) defined on each fixture are configured to accept pegs of transfer carriages  1200 ,  2200 , in order to detachably secure the fixtures onto transfer carriages  1200 ,  2200  during transferring from a first position to a second position, as will be described in more detail below. The inner apertures ( 1317   c ,  1337   c ,  1357   c  . . . ,  1318   c ,  1338   c ,  1358   c  . . .  2317   c ,  2337   c ,  2357   c  . . . ,  2318   c ,  2338   c ,  2358   c  . . . ) of each fixture are configured to accept pegs of side transfer arms  1500 ,  2500  ( FIG. 4A ). Side transfer arms  1500 ,  2500  will be discussed in more detail below. 
     As shown in FIGS.  4 A &amp;  5 - 9 , side transfer arms  1500 ,  2500  are configured to transport fixtures from one base structure  1100  or  2100  to another base structure  2100  or  1100 . Each side transfer arm  1500 ,  2500  includes a base portion and two extended arms. Each of the two extended arms contains at least one peg configured to retain a fixture thereon during transportation of the fixture. Side transfer arm  1500  includes pegs  1511 ,  1512  and side transfer arm  2500  includes pegs  2511 ,  2512 . The operation of the side transfer arms  1500 ,  2500  will be described in more detail below. 
     The operation of transfer system  20 , in accordance with one embodiment of the present disclosure will now be described with reference to  FIGS. 4-9 . As shown in  FIG. 4A , first base structure  1100  is disposed adjacent to second base structure  2100 . Each base structure  1100 ,  2100  is detachably securing five fixtures  1310 ,  1330 ,  1350 ,  1370 ,  1390 ,  2310 ,  2330 ,  2350 ,  2370 ,  2390  thereon. Fixture retaining members  1111 - 1115  of first base structure  1100  and corresponding fixture retaining members  1111 - 1115  are securing fixtures  1310 ,  1330 ,  1350 ,  1370 ,  1390  thereon, via apertures outer apertures  13 * 7   a  and  13 * 8   a  (wherein * represents the corresponding fixture, i.e., *=1 for fixture  1310 , *=3 for fixture  1330  . . . ), respectively. Fixture retaining members  2112 - 2116  of second base structure  2100  and corresponding fixture retaining members  2162 - 2166  are securing fixtures  2310 ,  2330 ,  2350 ,  2370 ,  2390  thereon, via outer apertures  23 * 7   a  and  23 * 8   a  respectively. 
     With continued reference to  FIG. 4A , first side transfer arm  1500  is disposed below fixture  1310  and second side transfer arm  2500  is disposed below fixture  2390 . Side transfer arms  1500 ,  2500  are moved upward, in the direction of arrow AA, with respect to base structures  1100 ,  2100 , such that pegs  1511 ,  1512  of first side transfer arm  1500  engage apertures  1317   c ,  1318   c  of fixture  1310  and such that pegs  2511 ,  2512  of second side transfer arm  2500  engage apertures  2397   c ,  2398   c  of fixture  2390 . Side transfer arms  1500 ,  2500  are raised farther upward, in the direction of arrow AA, such that apertures  1317   a ,  1318   a  and  2397   b ,  2398   b  of fixtures  1310 ,  2390 , respectively, are disengaged from pegs  1111 ,  1161 ,  2116 ,  2166 , respectively and are positioned above base structures  1100 ,  2100 , respectively. 
     Referring now to  FIG. 5 , first side transfer arm  1500  is moved in the direction of arrow BB. Fixture  1310 , which is secured to first side transfer arm  1500 , is thus also moved in the direction of arrow BB. Similarly, second side transfer arm  2500  is moved in the direction of arrow CC. Fixture  2390 , which is secured to second side transfer arm  2500 , is thus also moved in the direction of arrow CC. First side transfer arm  1500  is moved farther in the direction of arrow BB until apertures  1317   a  and  1318   a  are positioned directly above pegs  2111  and  2161 , respectively, of second base structure  2100 . Similarly, second side transfer arm  2500  is moved farther in the direction of arrow CC until apertures  2397   a  and  2398   a  are positioned directly above pegs  1116  and  1166  of first base structure  1100 . 
     Referring now to  FIG. 6 , side transfer arms  1500 ,  2500  are disposed above base structures  1100 ,  2100 , respectively, as described above. First side transfer arm  1500  is then lowered in the direction of arrow DD with respect to base structure  2100  such that fixture  1310  is also lowered in the direction of arrow DD with respect to base structure  2100 . Side transfer arm  1500  is lowered farther until pegs  2111  and  2161  of base structure  2100  engage apertures  1317   a  and  1318   a  of fixture  1310 , respectively. Upon further lowering of side transfer arm  1500 , pegs  1511 ,  1512  of side transfer arm  1500  are disengaged from apertures  1317   a  and  1318   a  of fixture  1310 . A substantially similar process is carried out by side transfer arm  2500 . Side transfer arm  2500  is lowered in the direction of arrow DD such that fixture  2390  is also lowered with respect to base structure  1100  until pegs  1116  and  1166  of base structure  1100  engage apertures  2397   a  and  2398   a  of fixture plate  2390 , respectively. Pegs  2511 ,  2512  of side transfer arm  2500  are eventually disengaged from apertures  2397   a  and  2398   a  of fixture  2390 . 
       FIG. 7  represents the positions of the fixtures relative to base structures  1100 ,  2100  after the operation of side transfer arms  1500 ,  2500  as described above. More specifically,  FIG. 7  reflects that fixture  1310  has been moved from base structure  1100  to base structure  2100  while fixture  2390  has been moved from base structure  2100  to base structure  1100 . 
     While the above-described operation of transfer system  20  includes two base structures and two side transfer arms, it is envisioned that more base structures and thus more side transfer arms could also be used in accordance with the present disclosure. It is also envisioned that the side transfer arms may be configured to detachably secure and transport more than one fixture per operation. 
     Beginning with  FIG. 7 , another operation of transfer system  20  will now be described with reference to  FIGS. 7-9 . 
     As illustrated in  FIG. 7 , transfer carriage  1200  has been raised, in the direction of arrow EE such that pegs  1211 - 2115  have engaged apertures  1337   b ,  1357   b ,  1377   b ,  1397   b  and  2397   b , respectively and such that pegs  1261 - 1265  have engaged apertures  1338   b ,  1358   b ,  1378   b  and  1398   b , thereby securing fixtures  1330 ,  1350 ,  1370 ,  1390 ,  2390  thereon. Similarly, transfer carriage  2200  has been raised, in the direction of arrow EE such that pegs  2211 - 2216  have engaged apertures  1317   b ,  2317   b ,  2337   b ,  2357   b  and  2377   b , respectively and such that pegs  2261 - 2265  have engaged apertures  1318   b ,  2318   b ,  2338   b ,  2358   b  and  2378   b , thereby securing fixtures  1310 ,  2310 ,  2330 ,  2350 ,  2370  thereon. In a substantially similar manner as described above in relation to transfer system  10 , transfer carriages  1200 ,  2200  are then raised even further, disengaging the outer (“a”) apertures of the fixtures from pegs  1112 - 1116 ,  1162 - 1166 ,  2111 - 2115 ,  2161 - 2165  of base structures  1100 ,  2100 . Transfer carriage  1200  may then be moved in the direction of arrows FF ( FIG. 8 ). Similarly, transfer carriage  2200  may then be moved in the direction of arrows GG, as shown in  FIG. 8 . 
     Referring now to  FIG. 9 , transfer carriages  1200 ,  2200  are lowered with respect to base structures  1100 ,  2100 , in the direction of arrow HH, such that pegs  1111 - 1115 ,  1161 - 1165 ,  2112 - 2116 ,  2161 - 2166  engage the corresponding “a” apertures of the fixtures, thereby retaining the fixtures thereon. Lowering transfer carriages  1200 ,  2200  further in the direction of arrow HH disengages the pegs on transfer carriages  1200 ,  2200  from the “b” apertures of the fixtures. 
     While several embodiments of the disclosure have been shown in the drawings and/or discussed herein, it is not intended that the disclosure be limited thereto, as it is intended that the disclosure be as broad in scope as the art will allow and that the specification be read likewise. Therefore, the above description should not be construed as limiting, but merely as exemplifications of particular embodiments. Those skilled in the art will envision other modifications within the scope and spirit of the claims appended hereto.