Teaching apparatus and method of teaching a wafer carrying apparatus a target position for placing and removing semiconductor wafers on and off a wafer boat using an imaging device and distance sensor

1. A teaching apparatus to be used for teaching a carrying apparatus a target position at which a retainer of said carrying apparatus holding an object to be carried is to make access to a mounting rack on which said object is to be placed, comprising:

a first member held by said retainer;

a second member attached to said mounting rack and disposed so as to oppose said first member held by said retainer when said retainer is located close to said target position;

an output unit; and

an arithmetic unit;

wherein at least one of said first member and said second member includes a distance sensor that generates a sensor signal representing a distance between said distance sensor and an opposing surface of the other member opposing said one member;

at least one of said opposing surface of the other member and the opposing surface of said one member opposing said opposing surface of the other member, is provided with a reference mark, and one of said first member and said second member which is opposing the member with said reference mark includes an imaging device that shoots an image including said reference mark and generates image data;

said arithmetic unit calculates the distance represented by said sensor signal based on said sensor signal generated by said distance sensor;

said output unit outputs a calculation result given by said arithmetic unit, and outputs a difference in a position of said reference mark obtained from said image data generated by said imaging device and a position of said reference mark in an image shot by said imaging device when said retainer is set at said target position.

2. A teaching apparatus to be used for teaching a carrying apparatus a target position at which a retainer of said carrying apparatus holding an object to be carried is to make access to a mounting rack on which said object is to be placed, comprising:

a first member held by said retainer;

a second member attached to said mounting rack and disposed so as to oppose said first member held by said retainer when said retainer is located close to said target position;

an output unit;

an arithmetic unit;

a first storage unit; and

a first detector;

wherein at least one of said first member and said second member includes a distance sensor that generates a sensor signal representing a distance between said distance sensor and an opposing surface of the other member opposing said one member;

at least one of said opposing surface of the other member and the opposing surface of said one member opposing said opposing surface of the other member, is provided with a reference mark, and one of said first member and said second member which is opposing the member with said reference mark includes an imaging device that shoots an image including said reference mark and generates image data;

said first storage unit stores a position of said reference mark in an image shot by said imaging device when said retainer is set at said target position;

said first detector detects a difference in a position of said reference mark obtained from said image data generated by said imaging device and said position of said reference mark stored in said first storage unit;

said arithmetic unit calculates the distance represented by said sensor signal based on said sensor signal generated by said distance sensor; and

said output unit outputs a calculation result given by said arithmetic unit, and a detection result given by said first detector.

3. The teaching apparatus according to claim 2 , further comprising:

a second storage unit that stores therein a distance between said distance sensor and said opposing surface of the other member defined when said retainer is set at said target position;

wherein said arithmetic unit includes a calculation unit that calculates said distance represented by said sensor signal based on said sensor signal generated by said distance sensor, and a second detector that detects a difference between said distance calculated by said calculation unit and said distance stored in said second storage unit; and

said output unit outputs a detection result given by said second detector, as a calculation result given by said arithmetic unit.

4. The teaching apparatus according to claim 2 ,

wherein said object to be carried is a wafer;

said mounting rack includes a support rod provided with a plurality of slots that support an outer circumferential portion of said wafer formed at a predetermined pitch;

said retainer holds a plurality of wafers in accordance with said pitch of said slots; and

said second member is attached to said support rod.

5. The teaching apparatus according to claim 2 , comprising two or more of said distance sensors.

6. A method of teaching a carrying apparatus a target position at which a retainer of said carrying apparatus holding an object to be carried is to make access to a mounting rack on which said object is to be placed, comprising:

causing said retainer to hold a first member;

attaching a second member to said mounting rack;

moving and placing said retainer to the proximity of said target position so that said first member and said second member are oppose each other;

measuring, with a distance sensor provided to one of said first member and said second member, a distance between said distance sensor and a surface of the other member opposing said one member;

shooting a reference mark provided to at least one of said opposing surface of the other member and that of said one member opposing said opposing surface of the other member, and acquiring an image, with an imaging device provided to one of said first member and said second member which is opposing the member having said reference mark;

detecting a difference in said distance measured in said measuring a distance and said distance between said distance sensor and said opposing surface of the other member defined when said retainer is set at said target position;

detecting a difference in a position of said reference mark in said image acquired in said acquiring an image and a position of said reference mark in an image shot by said imaging device when said retainer is set at said target position;

adjusting said position of said retainer based on a detection result in said each detecting a difference; and

storing an adjusted position of said retainer in said carrying apparatus.