Medicine bag packaging is an important part in the production process. It is very important to carry the medicine bag on the conveyor belt and put it into the medicine bag box accurately. A medicine bag sorting system was designed based on machine vision and parallel robot.In the system,Robot Control system wasused to control the movement of parallel robot, and Soft PLC was responsible for peripheral signal sampling, logic control and other functions.MM240/A encoder input module was used to record the increment of encoder after identification of the medicine bag.The position of the medicine bag and the angle of placement were correlated with the increment value of the wheel encoder and passed to the Robot Control system.The results show that the system is used to successfully complete the visual tracking and grasping of the medicine bag.