The embodiment of the invention discloses a mechanical arm 
tail end adjusting method, a device, a 
system, equipment and a medium. The method comprises the steps that a target image of a three-dimensional 
beacon collected by an image collector at the 
tail end of a mechanical arm is obtained, the three-dimensional 
beacon is placed on a working face, the three-dimensional 
beacon comprises an area with information codes, structural information of the three-dimensional beacon is extracted from the information codes, shape information of the three-dimensional beacon on the target image is recognized, and the shape information of the three-dimensional beacon on the target image is obtained. According to the structure information and the shape information, first 
pose data of the 
tail end of the mechanical arm relative to the working face is determined, and the tail end of the mechanical arm is adjusted to the target 
pose based on the first 
pose data, so that the pose of the tail end of the mechanical arm relative to the working face can be conveniently and accurately obtained by using the three-dimensional beacon, and flexible adjustment can be performed according to the pose of the working face. The operation smoothness of the tail end of the mechanical arm is high, and the control precision of the tail end of the mechanical arm is improved.