Patent ID: 11913849
Assignee: SHANGHAI FLEXIV ROBOTICS TECHNOLOGY CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G  B | IPC B  G

Claim 0:
1. A multi-degree of freedom force and torque sensor, comprising:
a first rigid plate;
a second rigid plate; and
a plurality of elastic elements connected between the first and second rigid plates, each of the plurality of elastic elements including:
a first pillar and a second pillar, a first end of the first pillar being connected to the first rigid plate and a first end of the second pillar being connected to the second rigid plate, the first pillar and the second pillar each extending in an axial direction of the multi-degree of freedom force and torque sensor; and
a connecting part connected between the first pillar and second pillar, a first length of the connecting part being larger than a height of the connecting part in the axial direction of the multi-degree of freedom force and torque sensor when no load is applied onto the multi-degree of freedom force and torque sensor, the first length being a length of a projection of the connecting part onto a plane perpendicular to the axial direction of said multi-degree of freedom force and torque sensor; and

a plurality of signal pairs arranged between the first and second rigid plates, and configured to detect relative displacements of the first and second rigid plates in multiple directions;
wherein the plurality of elastic elements are arranged at edges of the first rigid plate and the second rigid plate; and
wherein each of the plurality of signal pairs includes a signal emitter and a signal receiver.