The increasing demand for small-batch, high-variety production is driving manufacturing companies to face increasingly complex and rapidly changing production scenarios. To address this demand, a human-robot collaboration assembly system based on “reconfigurable process” has been designed. The system’s control software is developed using Qt and SQLite, while the hardware platform is built with flexible and scalable devices such as AUBO-i20. To validate the system, a comparative experiment was conducted between the proposed system and manual assembly, as well as traditional human-robot collaboration assembly, for a specific product. Additionally, scalability verification of the system was performed. The experimental results confirm that the proposed system not only improves assembly efficiency but also exhibits higher flexibility, scalability, and reconfigurability. The validation of this system lays the groundwork for its development and application in various fields.