Abstract: To replace the frequent and laborsome manual label feeding in the cigarette packing process, an automatic label feeding system was designed. The system mainly consists of a positioning and picking device, a kraft paper cutting and reclaiming device, a lifting and buffering device, an overhead conveyor, and a visual label hopper. The positioning and picking device uses a collaborative robot and a 3D industrial camera to complete the accurate positioning and automatic picking of label stacks. According to the results of finite element analysis, the thickness of the cutter in the kraft paper cutting and reclaiming device is determined to be 0.7 mm with a blade angle of 15°. The unpacked label stacks are lifted and stored in the buffering device temporarily, prior to entering the visual label hopper via the overhead conveyor. The automatic label feeding system was tested on a ZB25 packer in Shifang Cigarette Factory. The results showed that the average feeding labor time was reduced from 2 hours/shift to 0. This technology supports the promotion of automation of packing equipment.