A sensor having a shielding function based on time and areas, and a robot, comprising a plurality of sensor units. Each unit comprises an area consisting of four multi-functional layers; four parallel plate capacitors are comprised in the multifunctional layers; the multi-functional layers realize an area-based shielding function by means of time-based switching of an analog switch and bus control. When area-based scanning is performed: enabling the sensor units in a scanning state to perform operations, so that quasi-planar capacitors formed by the multi-functional layers are not interfered by the outside of the multifunctional layers and are not interfered by the internal parallel plate capacitors while realizing touch sense, and moreover, the parallel plate capacitors in the multifunctional layers in a shielding state can measure change of a three-dimensional force; simultaneously grounding the multifunctional layers of the sensor units in the shielding state, or simultaneously connecting to excitation signals of common electrodes of the internal parallel plate capacitors, and connecting the common electrodes of the internal parallel plate capacitors to the corresponding common electrode excitation signals, so that the sensor units in the shielding state can measure the change of the three-dimensional force.