As a necessary family product for the daily life of the elderly in the future, the elderly care service robot has received extensive attention from users. The orientation based on user demand helps to design products that meet the target user group. Based on the background of China's aging population, the work aims to propose a product design method driven by user demand, and design an elderly care service robot that can effectively improve the satisfaction of the elderly from the aspects of function, appearance and interaction. Firstly, the user demand was obtained through investigation and the KANO model was used to classify the attributes of the user demand. Then, the analytic hierarchy process was employed to build the hierarchy model of the user demand, and the importance of the user demand was sorted. Thirdly, QFD was introduced to transform the user demand into specific design elements and guide the innovative design of the elderly care service robot accordingly. Finally, the effectiveness of the design scheme was evaluated. The objective and scientific user demand framework of the elderly care service robot was established, the QDF quality house of the elderly care service robot was constructed, and the innovative design of the elderly care service robot was completed. Through the integrated application of KANO, AHP and QFD models, it can more scientifically and objectively mine user demand and effectively guide product research and development, and provide new ideas for similar product research and development.