The work aims tostudy the method for robots showing complex social emotions through actions from the analytical perspective based on the customer journey map. At first, the definition and content of social emotion was analyzed. The social emotion was divided into emotions facing oneself and others. Then, the implementation method of the customer journey map was sorted out to extract the elements of events, users, contacts, phases and steps to analogically map robot emotion expression, obtain the research elements of roles, scenes, stimuli, emotion expression processes and emotion expression steps. Finally, the method for robot social emotion action expression was generated based on the above content, and the recognition was verified by the pet robot emotion expression experiment. The robot social emotion action expression method proposed in the research has advantages of modular expression, systematic design and flow analysis. Firstly, social emotions can be divided into basic emotion modules to simplify complex emotion expression problems of robots. Secondly, it presents the process of emotional change through systematic design to show the robot's interaction intention. Thirdly, the process of emotional change is converted into specific combined actions by flow analysis, which provides guidance for the design of robot emotion expression actions.