It aims to study the new design thinking of service design when it is introduced to service robot industry in the context of social well-being development. It uses research methods such as depth interview and on-site observation to define the design direction. Based on the second round of investigation, it uses service design tools to deduce the services system and function definition. The core value of service design is to build a system of different objects and stories. In this system, the existing of different objects are designed to tell different stories. In this point of view, the introduction of service design thinking to service robot design can not only help change the way of designing an object to a story, but also meet the needs of the urban elderly in their square dance activities on entertainment, social network and healthy. In this sense, the aim of developing social well-being will be achieved.