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

Claim 6:
7. A robot comprising multiple links and an end effector successively connected, wherein the end effector comprises a multi-degree of freedom force and torque sensor, the multi-degree of freedom force and torque sensor comprising:
a first rigid plate;
a second rigid plate;
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 extending substantially in an axial direction of the multi-degree of freedom force and torque sensor; and
a connecting part configured to connect the first pillar and the 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, 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, configured to detect relative displacements of the first and second rigid plates in multiple directions,
wherein each of the plurality of signal pairs includes a signal emitter and a signal receiver.