The accuracy and efficiency of the object pose estimation is one of the key performance to realize the automation of production process and the intellectualization of warehousing and logistics. Some general mechanical parts pose estimation methods are studied. This work proposes a pose recognition method based on area sensing for mechanical parts characterized by abundant varieties of shapes and obvious structural features for mechanical parts pose estimation. This is achieved by combining the state-of-the-art semantic segmentation method and the point pair feature. In order to verify the effectiveness of the method， we conduct vast experiments and comparisons using multiple sets of data. The experimental results show that the method has higher pose recognition accuracy and can effectively improve the recognition efficiency.