Aiming at the high error rate of manual repeated sorting for multi-type and multi-color workpieces in manufacturing,a physical control system and a digital twin system for automatic sorting of industrial robot based on industrial vision were designed.The control scheme integrating industrial vision,industrial robot,PLC and other equipment was proposed;based on the visual inspection principle,visual inspection tools combined with PLC program were used to correctly identify the workpieces;based on NX MCD,the digital twin systems of industrial robot,conveyor and workpieces were constructed.Finally,the industrial robot and PLC were jointly programmed to realize synchronous operation of the virtual and real visual sorting systems.Experimental results show that the system has high accuracy of workpiece recognition and high efficiency of workpiece sorting,and the digital twin system can realize the virtual and real synchronization,which provides convenience for the dynamic monitoring,maintenance management and virtual debugging of the system.