Abstract: To reduce the labor cost during the handling process of trademark paper on the current ZB47 packaging machine, a fully automatic grabbing system for trademark paper based on machine vision has been established. The industrial camera and laser rangefinder are equipped with machine vision technology to carry out image acquisition and pre-processing analysis, detecting the position of trademark paper, and transmitting the vector data to the industrial robot; then the negative pressure suction cup grabbing method is used for positioning and grabbing. The experimental results show that the system can accurately identify the position of the trademark paper stack and control the robotic arm to complete its positioning and grasping action, solving the problems of empty grasping, less grasping, and errors in the grasping system.