Aiming at the requirement of efficient automatic sorting of delay object, cartridge case, bullet and other bullet parts, the automatic sorting technology of industrial parallel robot automatic grasping system based on vision guidance is studied. The machine vision is used to automatically identify the position of the bullet parts, guide the parallel robot to automatically adjust the workpiece posture after grabbing the workpiece, and quickly sort and place the workpiece. The bullet assembly and delay detonator assembly automatic production line using the vision-guided sequencing technology has been put into production. The results show that the sequencing method has high efficiency, low error rate of missing and reverse loading, high flexibility, and can adapt to different length and shape of bullet parts. The overall efficiency and operation reliability of the production line have been greatly improved.