Aiming at the manufacturer's needs of appearance, man-machine and color of the existing milk packing robot, the application of kansei engineering theory were promoted to collect and analyze the related vocabulary of milk packing robot. By means of visual simulation scoring method (VAS) and KJ method, qualitative and quantitative studies were carried out, and the perceptual demands of users for milk packing robots are obtained. Moreover, the cognitive errors between designers and users could be reduced, and the theoretical research results were applied in product design. Therefore, this would provide reference for milk packing robot innovative design.