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本森多關節(jié)機械手臂碼垛機本體主要由以下部分組成：

1. 底座：作為碼垛機器人的承重基礎部件，固定在地面或支架上。

2. 主架構：是大臂的支撐部件，實現(xiàn)機器人的回轉功能，主架構可以在底座上進行旋轉。

3. 大臂：作為小臂的支撐部件，大臂的擺動可以改變末端執(zhí)行器在水平方向上的行程。

4. 小臂：其俯仰動作可以實現(xiàn)末端執(zhí)行器在垂直方向上的位置變換。

5. 腕部：其末端執(zhí)行器旋轉關節(jié)可以調整承載目標的旋轉角度和位置。

此外，碼垛機器人本體還具有四個自由度，即四個旋轉關節(jié)，分別為底座與主架構之間、主架構與大臂之間、大臂與小臂之間、腕部與末端執(zhí)行器之間的四個旋轉關節(jié)。

請注意，以上信息可能因產(chǎn)品型號和規(guī)格不同而有所差異。如需了解更多關于本森多關節(jié)機械手臂碼垛機的詳細信息，建議直接聯(lián)系本森智能裝備（山東）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.