Sand core molds are large in size and weight, the loading link is traditionally used in the manual operation of the lifting way to achieve, but the production site environment is harsh, 40℃ high temperature in summer still need to wear protective masks to enter, the sand core next to the side and the bottom of the high-temperature molds, manual operation of the existence of unsafe factors. Manual operation is cumbersome and slow, the production efficiency is not high, the sand core lifting and transportation process, easy to drop sand or rotation is not in place, affecting the product quality of the cylinder block. The customer used 3D vision system to guide the robot to realise the loading of large workpieces to improve production efficiency and processing quality.