Oleanolic acid (OA) as template molecule, polyamide-6 (PA6) as basement membrane and poly(styrene-comaleic acid) (PSMA) were used to prepare PA6/PSMA-OA molecularly imprinted composite membranes by phase inversion method in supercritical $CO_2$ ($ScCO_2$). The template molecule (OA), [poly(styrene-co-maleic anhydride) (PSMAH), PSMA, molecularly imprinted membranes (MIMs) imprinting OA and MIMs after elution were all characterized by Fourier transform infrared spectroscopy (FTIR). The conditions that were the mass ratio between PSMA and OA from 3:1 to 8:1, temperature of $ScCO_2$ from $35^{circ}C$ to $50^{circ}C$ and pressure of $ScCO_2$ 12 MPa to 17 MPa were studied. It was obtained the largest adsorption rate and purity of OA after adsorption of the resultant MIMs, 50.41% and 96.15% respectively. After using PA6 film and non-woven fabrics as basement membrane respectively, it was found that smaller aperture of PA6 was used as basement membrane, a higher adsorption rate and a higher purity of OA after adsorption of the MIMs were obtained, and so were the stability and reproducibility of the resultant MIMs. After template molecules being removed, the MIMs had effective selectivity hydrogen bonding to separately bind in the binary components to the template molecules-oleanolic acid.