本森多关节机械手臂码垛机本体主要由以下部分组成：

1. 底座：作为码垛机器人的承重基础部件，固定在地面或支架上。

2. 主架构：是大臂的支撑部件，实现机器人的回转功能，主架构可以在底座上进行旋转。

3. 大臂：作为小臂的支撑部件，大臂的摆动可以改变末端执行器在水平方向上的行程。

4. 小臂：其俯仰动作可以实现末端执行器在垂直方向上的位置变换。

5. 腕部：其末端执行器旋转关节可以调整承载目标的旋转角度和位置。

此外，码垛机器人本体还具有四个自由度，即四个旋转关节，分别为底座与主架构之间、主架构与大臂之间、大臂与小臂之间、腕部与末端执行器之间的四个旋转关节。

请注意，以上信息可能因产品型号和规格不同而有所差异。如需了解更多关于本森多关节机械手臂码垛机的详细信息，建议直接联系本森智能装备（山东）有限公司。

The body of Benson's multi-joint robotic arm palletizer is mainly composed of the 

following parts:

Base: As a load-bearing basic part of the palletizing robot, it is fixed on the ground or on 

a support.

Main structure: It is the supporting part of the boom to realize the rotation function of 

the robot, and the main architecture can be rotated on the base.

Boom: As a support component for the boom, the swing of the boom can change the 

stroke of the end effector in the horizontal direction.

Forearm: Its pitching action can realize the position of the end effector in the vertical 

direction.

Wrist: Its end-effector rotation joint can adjust the angle of rotation and position of the 

carrying target.

In addition, the palletizing robot body also has four degrees of freedom, that is, four 

rotating joints, which are four rotating joints between the base and the main structure, 

between the main structure and the big arm, between the big arm and the small arm, 

and between the wrist and the end effector.

Please note that the above information may vary depending on the model and specification 

of the product. For more information about Benson multi-joint robotic arm palletizer, 

it is recommended to contact Benson Intelligent Equipment (Shandong) Co., Ltd. directly.