Consensus clustering emerges as a promising solution to find cluster structures from data. As an efficient approach for consensus clustering, the K-means based method has garnered attention in the literature, but the existing research is still preliminary and fragmented. In this paper, we provide a systematic study on the framework of K-meansbased Consensus Clustering (KCC). We first formulate the general definition of KCC, and then reveal a necessary and sufficient condition for utility functions that work for KCC, on both complete and incomplete basic partitionings. Experimental results on various real-world data sets demonstrate that KCC is highly efficient and is comparable to the state-of-the-art methods in terms of clustering quality. In addition, KCC shows high robustness to incomplete basic partitionings with substantial missing values.