Patent Publication Number: US-8972041-B2

Title: Package delivery kiosk including integrated robotic package lifting assembly with shelving system

Description:
CROSS REFERENCE TO RELATED APPLICATIONS 
     This application is related to co-pending application Ser. No. 13/563,158 entitled “ROBOTIC PACKAGE LIFTING ASSEMBLY AND METHOD”, filed concurrently herewith; co-pending application Ser. No. 13/563,255 entitled “SHELVING AND KIOSK SYSTEM”, filed concurrently herewith; co-pending application Ser. No. 13/563,317 entitled “AUTOMATIC PACKAGE DELIVERY AND RETRIEVAL SYSTEM”, filed concurrently herewith; and co-pending application Ser. No. 13/563,361 entitled “ON DEMAND KIOSK COMMERCE SYSTEM AND METHOD”, filed concurrently herewith, the contents of which are hereby incorporated by reference herein. 
     BACKGROUND 
     The cost associated with operating a physical store front or delivering packages via mail or other package delivery common carriers is a significant expense of doing business. The last mile of delivery of packages is many times a large percentage of the expense of delivery, especially as compared to the total distance a package travels. In some cases, individuals living in apartment type dwellings can only receive packages if they are there to physically sign for them. Considering the hours of delivery and the hours most people work, home delivery is therefore impossible. In this case the resident must go to a post office or other depot during business hours. This provides for similar difficulty. 
     Increasingly consumers desire immediate satisfaction of orders and purchases. In order to do so they request express shipping, (at some cost), or go to a physical store front. When going to a physical store front, the consumer may not feel as though they are getting the best prices so they may be reluctant to purchase. Consumers may return home and search on Internet shopping sites in order to obtain the best price. Also, the store may not be open or may be far away. In such cases, they delay acquisition of the item of interest. 
     Therefore the ability to retrieve packages in an automated fashion at remote sites accessible to the public is desirable. One aspect of providing packages to users is providing an integrated storage and retrieval system. 
     BRIEF SUMMARY 
     Described herein is a package delivery kiosk (PDK) including an integrated robotic package lifting assembly with shelving system and method. Described herein is a package delivery kiosk (PDK) including an integrated robotic package lifting assembly and shelving system. The system may include a PDK, associated front end and back end package delivery management systems, including portals for the consumer and the retailer and, in an alternative, portals for the common carrier, sender, and recipient, a package inventory management system, integrated retailer access, and real and automated retailer bidding system, a robotic distribution apparatus is needed. A kiosk includes a package delivery slot, an interface slot and a shelving system with shelves having receiving apertures. The dividers fit into the receiving apertures and each have a receiving slot. A package retrieving apparatus includes a base, a vertical support interconnected with the base, and a package picker module. The package picker module is oriented on the vertical support such that the package picker module may move up and down. The package picker module includes grippers configured to surround and grip the object. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
       A more detailed understanding may be had from the following description, given by way of example in conjunction with the accompanying drawings wherein: 
         FIG. 1  shows a perspective view of one embodiment of a lifting portions of a Robotic Package Lifting Assembly (RPLA) which is part of the PDK; 
         FIG. 1A  shows a cross-sectional view of the embodiment of  FIG. 1  taken along line A-A; 
         FIG. 1B  shows a cross-sectional view of the embodiment of  FIG. 1  taken along line B-B; 
         FIG. 2  show a bottom view of the RPLA of  FIG. 1 ; 
         FIG. 3  shows of cut away view of the RPLA of  FIG. 1 ; 
         FIG. 4  shows the lifting portion  FIG. 1 , integrated into a rail movement system; 
         FIG. 5  shows the RPLA of  FIG. 1 , integrated into a rail movement system; and 
         FIG. 6  shows another view of the RPLA of  FIG. 1 ; 
         FIG. 7  shows a perspective view of one embodiment of a PDK; 
         FIG. 8  shows the kiosk of  FIG. 7  with a front panel removed; 
         FIG. 9  shows the kiosk of  FIG. 7  with the major panels removed; 
         FIG. 10  shows one embodiment of a shelf for use in the kiosk system of  FIG. 7 ; 
         FIG. 11  shows a front view of the shelf of  FIG. 10 ; 
         FIG. 12  shows the shelf of  FIG. 10  with some of the dividers removed; 
         FIG. 13  shows the shelf of  FIG. 10  with some of the dividers and shelves removed; 
         FIG. 14  shows the shelf of  FIG. 7  with some of the dividers and shelves removed; 
         FIG. 15-16  shows a detailed view of the bottom shelf of  FIG. 10 ; and 
         FIG. 17  shows an interior shot of the kiosk showing the delivery slot and RPLA. 
     
    
    
     DETAILED DESCRIPTION 
     Certain terminology is used herein for convenience only and is not to be taken as a limitation on the embodiments of a Package Delivery Kiosk (PDK) and integrated Robotic Package Lifting Assembly (RPLA). In the drawings, the same reference letters are employed for designating the same elements throughout the several figures. 
     The words “right”, “left”, “front”, and “back” designate directions in the drawings to which reference is made. The words “inwardly” and “outwardly” refer to directions toward and away from, respectively, the geometric center of the case with flexible body portion and designated parts thereof. The terminology includes the words above specifically mentioned, derivatives thereof, and words of similar import. The drawings are proportional. 
     Like reference numerals designate like or corresponding parts throughout the various views and with particular reference to each of Figs. as delineated below. 
       FIG. 1  shows a perspective view of one embodiment of the Robotic Package Lifting Assembly (RPLA)  100 .  FIG. 1A  shows a cross-sectional view taken along line A-A and  FIG. 1B  shows a cross-sectional view taken along line B-B. RPLA  100  includes a robotic support bracket  102 , which includes a plurality of attachment points. Lead screw shaft  105  passes through robotic support bracket  102  and provides for driving force to raise and lower RPLA  100  along lead screw shaft  105 . This provides for Z-axis movement. The RPLA  100  further includes a first gripper side mount  106  and second gripper side mount  107 . A circuit board assembly  110  includes the microprocessor components for receiving signals from a main control center and storing information concerning position. This may also be referred to as a control system and may include other circuitry or computers interconnected with the RPLA  100 . 
     Underneath robotic support bracket  102  is lift platform plate  112  providing support to the platform that lifts the packages to be retrieved. Gripper pulley  116  is interconnected to clutch  115  and together provide driving control for a pair of grippers or gripper bars  130 . The grippers  130  are configured such that they move in unison together to grip an object evenly from both sides. This ensures that the package or object will be gripped and closed on evenly from both sides. Gripper cross side  136  provides a side for the gripping function to keep grippers  130  square/perpendicular. Grabber belt  120  on grabber pulleys  121  ensure that the advancement and retraction of the gripper bars  130  is unified. This is due to the pulley connection to the bracket that the gripper bars  130  may be bolted to. This also limits the number of independent motors needed. The gripper bars  130  are configured to grip and pull an object a short distance onto conveyer belt  125 . Conveyer belt  125  provides for the centering of the package on the RPLA  100 . Belt motor  180  powers the conveyer belt  125 . Encoders may be attached or coupled to the pulleys  121  to determine position and/or location. 
     Photo beam sensors (not shown) are provided to indicate the position or location of the box and may help position the box in the center of the conveyer belt resting area. For example, the photo beam sensors may be located on the ends of the gripper bars  130 . This would indicate when the box has entered the conveyer belt resting area and when the conveyer belt has pulled the box onto the robot. It also allows the robot to re-position the box when the box crosses the back photo beam sensor towards the center of the conveyer belt resting area. In some embodiments this is needed since the conveyer belt  125  may not evenly grab every package. For example, in another embodiment, one of the gripper bars may be stationary and the other gripper bar may move. In this instance, the moving gripper bar would move the package onto the conveyer belt  125 , which together would center the package on the conveyer belt  125 . A proximity sensor  135  is provided to place a ceiling on vertical displacement of the robot. 
       FIG. 2  shows a bottom view of the RPLA  100 . Visible here are the alignment of lead screw shaft  105  and accompanying vertical support  140  in robotic support bracket  102 . The screw shaft  105  includes a screw pattern that is not visible in  FIG. 2 . As the screw shaft  105  is turned it will power the RPLA  100  in the Z-axis direction. A motor  137  for driving grabber belt  120  is visible. The motor  137  is attached to “H” shaped bracket  113 . Float motor Cam  175  and float motor sensor  176  are visible in this view and provide sensing for the movement of the gripper bars  130 . That is, the float motor Cam  175  and float motor sensor  176  assist in centering the box in the conveyer belt resting area or “float” area. Belt motor  180  powers the conveyer belt  125 . 
       FIG. 3  shows an additional view of RPLA  100 . More of the coverings and elements have been cut away to reveal more workings of RPLA  100 . Motor  137  drives gripper bars  130  to extend past the conveyer belt  125  to initiate grabbing. This drives the gripper bars  130  in either the positive or negative Y-axis direction and works in concert with the gripper system of the RPLA  100 . The gripper system may include first gripper side mount  106  and second gripper side mount  107 , gripper bars  130  and bracket  113 . Belt motor  180  drives belt pulley  181 , which in turn drives belt  182 , which further in turn drives belt pulley  183 , which is integrated into the conveyer belt roller of conveyer  125 . This causes the conveyer belt  125  to be driven. 
       FIG. 4  shows the RPLA  100  situated on rail  190  using rail clamp  191 . A driving pulley  192  and motor pulley  193  raises and lowers the robotic support bracket  102 . The lead screw shaft  105  has screwing on it (not shown) and as it is rotated it will raise the robotic support bracket  102 . A rotational encoder tracks the turns of the lead screw shaft  105 . In this way the position of the RPLA  100  may be known based on the number of rotations in each direction. The vertical support  140  may have a hydraulic braking mechanism included to assist in braking and holding the RPLA  100  in place. 
       FIG. 5  shows RPLA  100  on rail  190 . At either end of the rail  190  there may be a motor  195  and a driving pulley  196 . The pulley  196  may include an encoder and/or a separate encoder may be located at the opposite end. Using this encoder, the position of the RPLA  100  may be tracked in relation to the slots for packages. This provides for the system to be driven between and along shelving or other slots in the X-axis direction. 
       FIG. 6  shows a complete view of the RPLA  100 . At either end of a rail  190  there may be a motor  195  and a driving pulley  196 . In this view a shelving system can be seen in the background. The RPLA  100  is configured to have the position of the slots in the shelving or other storage area preprogrammed into the control system of the RPLA  100 . The position of a package may be recorded in terms of the rotational movement of the encoders. Alternatively, the location may be coded by releasing the drive mechanism of the RPLA  100  and positioning the RPLA  100  at a slot. Then an indication can be sent to the control system that the RPLA  100  is at a slot and the slot location can be recorded. 
     With reference to  FIGS. 1-6 , the principles of operation of RPLA  100  include positional movement of the RPLA  100  in an X-Z plane.  FIG. 6  shows an example of a plane that the RPLA  100  may move along. This process simplifies the movement and control of the RPLA  100 . The grippers  130  move in a unified fashion for producing the initial movement of a package from a shelf and the conveyer belt  125  acts as the primary conveyer for a package. In operation, encoders record the position of a package when it is placed in a slot. The encoders record the position along the X and Z axis of the plane of travel of the RPLA  100 . These encoders are rotational encoders and therefore are situated to count the rotations of a motor or pulley, such as motor  195  and driving pulley  196 . This rotation is recorded by the computing system running the RPLA  100  and therefore linked to a position of a package. 
     The RPLA  100  includes a number of movement sub-systems. An x-axis movement subsystem moves the RPLA along the x-axis of the plane of movement. The x-axis movement subsystem may include a rail  190 , a motor  195 , and an encoder for sensing the movement of the RPLA. The RPLA may include a z-axis movement subsystem. The z-axis movement subsystem may include a vertically oriented rail, pole, or other support such as vertical support  140 . Also included is a motor for driving the RPLA  100  up the vertically oriented support. This may, for example, be screw shaft or lead screw  105 . An encoder tracks the position of the RPLA. The X and Z axis position provides for the position of a package or object as it is placed into shelving. The RPLA also includes a gripper subsystem. The gripper subsystem includes arms that move in perpendicular to the X-Z plane of movement. This may be, for example, grippers  130 . A motor system accomplishes this movement. This may be, for example, motor  137 . A second system provides for uniform gripping of the arms along the X axis. This may be, for example, gripper pulley  116  and clutch  115 . The gripper subsystem may move in either direction in the positive Y or negative Y direction. In this way, the gripper subsystem may access shelving on either side of X-Z plane of travel. 
     Another subsystem includes a conveyer belt subsystem which may include conveyer belt  125 . The belt  125  is oriented on the RPLA  100  and provides for the movement of an object on the belt  125  in the X axis direction. The belt subsystem functions in concert with the gripper subsystem to remove and accept packages or objects that are located at a particular X and Z axis position. The gripper subsystem extends to grab the package and pull it a sufficient distance so that the belt subsystem can move the package onto the RPLA  100 . The RPLA  100  then may move to a new position and deposit the package by use of the belt subsystem. 
     The two above mentioned subsystems work together to grip and center the package or object. The gripper subassembly and the conveyor subassembly, have a side to side, frictionless or very low friction movement, on lift platform plate  112 . This “float” distance matches the maximum clearance of a package to the width of the slot. Therefore a package that is off-centered can be gripped with even pressure from both arms as described herein. This left to right motion is locked in the center position by a motor and cam, such as for example, float motor Cam  175  and float motor sensor  176 , or by a cylinder pair, while the machine moves to the desired slot. Upon arrival to the slot, the locking action is released. As the gripper bars  130  closes on a package that is not perfectly centered in the slot, the gripper assembly and receiving conveyor move either left or right as the gripper bars  130  engage. Once the package is retrieved, the lift platform plate  112  is re-centered, and the robot moves with the package to the center position of the next shelf for storage. 
     The RPLA  100  encodes the position of packages and slots by using the encoders. By counting the revolutions of a pulley or the vertically oriented support, the position of the RPLA  100  may be translated and recorded. Therefore, the precise positioning of a package may be known. During an initial setup, a memory portion of a circuit or processor controlling the RPLA  100  may be initialized or taught the positions of the position of slots. In one embodiment, the shelf positions are at standard preprogrammed heights and slots in the shelves at standard locations. In another embodiment, the motors of the RPLA  100  may be disengaged and the RPLA robotic support bracket portion may manually aligned with a slot and an indication may be sent to the circuit or processor controlling the RPLA  100 . 
     The operation of the RPLA  100  may be implemented in a kiosk with shelving on either side of the kiosk. The kiosk includes a control mechanism for retrieving packages according to user commands. Since the RPLA  100  stores the position of certain packages it may automatically retrieve them in response to user commands. This can be utilized by entering into the system a particular code for a package which the RPLA  100  can then retrieve according to the recorded store position. 
       FIG. 7  shows a perspective view of one embodiment of a kiosk  200  for distributing packages. Kiosk  200  is secure and surrounded by a number of panels. The kiosk  200  may be secured internally using a locking system controlled by a code accessible security system, and may be secured using an external lock, or any number of security means. The kiosk  200  may have, for example, two panels  210  and  220 . However, the kiosk  200  may include any number of panels. A package distribution slot  240  is visible as is interface  230  A package distribution slot  240  in kiosk  200  provides for distribution of packages. An interface  230  may be a touch screen interface or may include a separate interface such as a keyboard or mouse. These kiosks are built to be secure by providing limited access to the kiosk through the usage of secured cabinet doors. These kiosks may be provided in a variety of locations including, stores, malls, post offices, apartment buildings, and any other areas that provide for significant public access. In the embodiment shown, a locking mechanism is shown in each panel  210  and  220 . In alternative embodiments only one panel may have an externally accessible locking mechanism. The other panels may be releasable only via an external latch. 
       FIGS. 8 and 9  show the interior of kiosk  200 . In  FIG. 8 , panel  220  has been removed from kiosk  200 . Inside the kiosk  200  there may be a shelving system  310 . Various packages may be stored in the shelving system  310 . In  FIG. 9 , panels  210  and  220  have been removed to show the interior of kiosk  200 . Four sets of shelves  310  may be seen inside. These shelves  310  are specially adapted for storing packages of various sizes including, for example, standard package shipping sizes. The shelves  310  may be adapted to work with an interior robotic retrieval system or Robotic Package Lifting Assembly (RPLA). 
       FIG. 10  shows one embodiment of a shelf  310  for use with the kiosk  200 . In general, the shelves  310  have a number of features that make them specially adapted for usage in kiosk  200 . First they have a variety of heights that are configurable between the slots. These heights may be configured to accommodate standard mailing packages and the like. Second, the shelves  310  have a number of apertures for receiving dividers. Therefore, different shelves  310  may be easily configured for different width items. Third, the dividers themselves have specially designed shapes and configurations. They are specially designed to accommodate gripper arms from a robotic retrieval device. There are also dividers designed to accommodate certain types of packages, such as the envelopes that serve as standard overnight packages and special roller packages for heavier packages. 
     Referring to  FIG. 10 , the kiosk  200  may include dividers  410 . These dividers  410  may be configured for the standard rate boxes that are used, for example, by post offices. The size of the box is generally in the 11″×8½″×5½″ range. Dividers  420  are designed to accommodate lower profile boxes. The size of a box is generally in the 8⅝″×5⅜″×1⅝″. Dividers  430  may be provided for envelopes that are specially designed to ensure that the envelopes remain as upright and square to all surfaces as possible to prevent jamming. These envelopes will generally be in the 12.5″×9.5″ range. Dividers  440  may be provided for another sized box. The size of box is generally in the 13⅝″×11⅞″×3⅜″. Dividers  450  with wheels  490  and accompanying rollers  460  may be provided for heavy boxes that may require reduced friction for removal. The size of box is generally in the Large 12″×12″×5½″. 
       FIG. 11  shows shelving unit having a number of dividers  410  removed to reveal the spacing of apertures  510  for receiving the dividers  410 . The apertures  510  shown on the left of the shelf are narrower than the mounted dividers, showing that various widths may be configured. 
       FIG. 12  shows a configuration of dividers  420  and apertures  610 . Similar to that shown in  FIG. 11 , the dividers  420  may be substituted in and out and the height of the shelf may be configured as can the widths between the shelves. In particular,  FIG. 13  shows multiple slots  710  for height configuration of the shelves  720 , which may have dividers  430 . Referring back to  FIG. 12 , the dividers  420  may have a cutout portion  411  that provides for the engagement of the gripper arms of a robotic package retrieval system. 
       FIG. 14  shows a configuration of dividers  430  and apertures  410 . This provides a better cross-sectional view of the cut-out portion  411  that provides for the engagement of the gripper arms of a robotic package retrieval system. These dividers  430  may also include a lower base portion  412  that extends under the cut-out portion  411 . This extension of the base prevents an envelope positioned in the slot from becoming twisted and jammed. The corner of the envelope may become awkwardly positioned in the slot and jammed in the aperture or cut-out portion  411  that provides access to the robotic arms without this base portion. The bottom portion provides for a bottom surface that most of the edge of an envelope may rest against. This provides for keeping the envelope straight, in that the edge is parallel to the divider as it rests against it. 
       FIG. 15  shows a bottom shelf that is configured to receive larger and heavier packages. The roller bases  460  and the dividers  450  that include top mounted wheels  490  provide for reduced friction and easier sliding for boxes that include heavier loads. By mounting the wheels or rollers  490  on top of dividers  450  as opposed to on their sides a space savings is achieved since only a single wheel is mounted as opposed to having two wheels mounted when in a side configuration.  FIG. 16  shows a shelf removed from the shelving system that shows rollers  460  and  490  and where some roller bases  460  and wheels  490  have been removed to reveal apertures  910  in which the dividers  450  and the rollers  460  fit. The shelf itself may be the same as the other shelves as the apertures may be configured to fit the variety of dividers and rollers. 
       FIG. 17  shows the interior of a kiosk system including package slots  1000  through which a package may be delivered to a user. This slot  1000  and the accompanying interface  1010  are located between a set of shelves. The shelves are located along a track for a picker robot that may retrieve packages and deliver them to the slot  1000 . Shelves may be located on either side of the picker robot track. 
     Referring further to the aperture for providing access to the robotic arms, this aperture provides for space savings in the shelving system. Additional space would be needed between the slots without these apertures. Each one of the dividers in the embodiment shown has such an aperture. 
     In one embodiment, the PDK includes a Robotic Package Lifting Assembly (RPLA) and integrated kiosk with shelving system. The RPLA is configured to remember the location of packages and slots and provide for automated retrieval and placement of the packages. 
     The systems of the PDK and RPLA are optimized to work together and have innovations and enhancements that allow them to work together. Specifically, grabber  130  interfaces with the shelving system at cutout portions  411 . This provides for the dividers of the shelves to be more closely situated since the grabbers need not navigate a narrow space between the shelves and the package contained therein. Furthermore, the shelving system and kiosk is designed to run along the rail that the RPLA moves on. A greater number of packages may therefore be stored per unit area, due to the shelving system and associated cutouts and the reduced number of access points needed. In one embodiment, the PDK includes a Robotic Package Lifting Assembly (RPLA) and integrated kiosk with shelving system. The RPLA is configured to remember the location of packages and slots and provide for automated retrieval and placement of the packages. The shelving system is specially adapted to receive the RPLA gripper arms and the kiosk has shelving positioned to accommodate the unique movement of the RPLA. 
     In general, a kiosk system for storing and distributing packages includes a kiosk body, and the kiosk body has a package delivery slot and an interface slot. The system further includes a first and second shelving system in the kiosk body. The first and second shelving system is located on either side of the package delivery slot. For each shelf, the shelving system each includes a plurality of shelves having a plurality of receiving apertures. A plurality of dividers is configured to fit into the plurality of receiving apertures, where each of the plurality of dividers has a receiving slot. 
     The kiosk system further includes a package retrieving apparatus including a track, and a base slidably interconnected with the track. The package retrieving apparatus includes a vertical support interconnected with the base and a package picker module. The package picker module is oriented on the vertical support such that the package picker module may move up and down the vertical support. 
     The package picker module includes a first and second gripper and a conveyer belt, the conveyer belt oriented in a plane parallel to the ground and the first and second gripper oriented parallel to the conveyer belt. The first and second gripper is configured to move parallel to the conveyer belt, surround an object and grip the object beyond the surface of the conveyer belt. 
     The receiving slot is configured to allow for the first and second gripper to grab the object located in a first slot between a first divider and a second divider of the plurality of dividers. Optionally, the package retrieving apparatus is configured to receive commands from an interface located in the interface slot and retrieve packages in the shelving system. Optionally, the receiving slot is a rectangular cut-out in a corner of each of the plurality of dividers. In one alternative, the plurality of dividers includes a first plurality of dividers of a first height and a second plurality of dividers of a second height, the first plurality of dividers of a first height are configured to provide a first height slot and second plurality of dividers of a second height is configured to provide a second height slot. 
     In one configuration, the plurality of dividers includes a third plurality of dividers, each of the third plurality of dividers further including a base portion, the base portion running along a bottom portion of each of the third plurality of dividers, the bottom portion being the portion that interfaces with the plurality of shelves, the base portion having a first thickness, that is thicker than a second thickness of the plurality of dividers, the base portion having a low profile compared to the size of the receiving slot, the base portion providing a narrower opening such that the edge of a thin rectangular object stands in an alignment closer to perpendicular to the plurality of shelves as compared to without the base portion. In another configuration, the plurality of dividers includes a fourth plurality of dividers and a plurality of rollers is attached to the fourth plurality of dividers. 
     Optionally, the gripping of the first and second gripper is driven by a pulley system that configures each of the first and second grippers to move in unison and at the same rate, such that the package is centered during the gripping. 
     In one alternative, the package retrieving apparatus further includes a first and second encoder. The first and second encoder are integrated into the package retrieving apparatus such that they provide an X and Z position. Optionally, the first encoder is oriented in a X-position pulley mechanism, the X-position pulley mechanism includes a first motor and a first belt, the first belt running along the track and interconnected with the base and the second encoder is oriented in a Z-position pulley mechanism, the Z-position pulley mechanism includes a second motor and a third belt, the Z-position pulley mechanism configured to rotate the vertical support and the second encoder providing for the raising and lowering of the base and record a second position of the base. In one configuration, the first and second encoder sense rotational movement and the first encoder provides a first rotational movement signal to a control system and the second encoder providing a second rotational movement signal to the control system and the control system stores a position of the object, the position being a record of the first and second rotational movement signal. 
     In another configuration, the package picker module is configured to extend the first and second gripper in an Y-axis direction, grip the object by moving the first and second gripper closer together, pull the object to the conveyer belt, the conveyer belt rotating in the Y-Axis direction, the conveyer belt conveying the object to a resting point on the conveyer belt. Optionally, the vertical support has a screw shaped outer surface and the turning of the vertical support provides for the raising and lowering of the base and the package retrieving apparatus further including a secondary vertical support and a braking mechanism located on the base configured to provide braking of the secondary vertical support. Alternatively, the control system includes preprogrammed positions for slots to receive the object and the control system is configured to record the position of the object in a one of the slots after placing the object. 
     In another embodiment, a kiosk system for storing and distributing packages includes a kiosk body having a package delivery slot and an interface slot. The system further includes a first shelving system in the kiosk body, the first shelving system each including a plurality of shelves, the plurality of shelves parallel to the ground, the plurality of shelves also having a plurality of receiving apertures; a plurality of dividers, the dividers configured to fit into the plurality of receiving apertures, each of the plurality of dividers having a receiving slot. 
     The system further includes a package retrieving apparatus including a track, a base slidably interconnected with the track; a vertical support interconnected with the base; a package picker module, the package picker module oriented on the vertical support, such that the package picker module may move up and down the vertical support. The package picker module includes a first and second gripper. The first and second gripper is configured to move parallel to the plurality of shelves to surround an object and grip the object and the receiving slot is configured to allow for the first and second gripper to grab the object located in a first slot between a first divider and a second divider of the plurality of dividers. 
     Optionally, the plurality of dividers includes a third plurality of dividers, each of the third plurality of dividers further including a base portion, the base portion running along a bottom portion of each of the third plurality of dividers, the bottom portion being the portion that interfaces with the plurality of shelves, the base portion having a first thickness, the first thickness being thicker than a second thickness of the plurality of dividers, the base portion having a low profile compared to the size of the receiving slot, the base portion providing a more narrow opening such that the edge of a thin rectangular object stands in an alignment closer to perpendicular to the plurality of shelves as compared to without the base portion. 
     In one option, the plurality of dividers includes a fourth plurality of dividers and a plurality of rollers is attached to the fourth plurality of dividers. In another option, the gripping of the first and second grippers is driven by a pulley system that configures each of the first and second grippers to move in unison and at the same rate, such that the package is centered during the gripping. Alternatively, the package retrieving apparatus further includes a first and second encoder, the first and second encoder integrated into the package retrieving apparatus such that they provide an X and Z position. 
     Optionally, the first encoder is oriented in a X-position pulley mechanism, the X-position pulley mechanism includes a first motor and a first belt, the first belt running along the track and interconnected with the base and the second encoder is oriented in a Z-position pulley mechanism, the Z-position pulley mechanism includes a second motor and a second belt, the Z-position pulley mechanism configured to rotate the vertical support and the second encoder providing for the raising and lowering of the base and record a second position of the base. Optionally, the first and second encoder sense rotational movement and the first encoder providing a first rotational movement signal to a control system and the second encoder providing a second rotational movement signal to the control system and the control system stores a position of the object, the position being a record of the first and second rotational movement signals. 
     While specific embodiments have been described in detail in the foregoing detailed description and illustrated in the accompanying drawings, it will be appreciated by those skilled in the art that various modifications and alternatives to those details could be developed in light of the overall teachings of the disclosure and the broad inventive concepts thereof. It is understood, therefore, that the scope of this disclosure is not limited to the particular examples and implementations disclosed herein, but is intended to cover modifications within the spirit and scope thereof as defined by the appended claims and any and all equivalents thereof. Note that, although particular embodiments are shown, features of each attachment may be interchanged between embodiments.