<p>The conical pick is a cutting tool involved in rock breaking directly for the cutting drum of the Shaft Boring Roadheader. However, its survice life in shaft engineering relies on technicians’ experience, resulting in low accuracy. Timely replacement of worn conical picks directly affects engineering costs. High-accuracy service life prediction has become an urgent requirement for the adoption of the Shaft Boring Roadheader. This relies on the establishment of wear model. First, the normal contact stress distribution on the alloy tooth of conical pick was derived. Subsequently, a discretized wear calculation model was established based on the abrasive wear model and the stress distribution. Changes in the contour shape and half cone angle were considered. An iterative calculation model of wear depth was then established. A corresponding survice life prediction software was applied. The research results indicated that the life prediction accuracy of conical pick reaches 95.2% in strongly weathered granite strata and 89.3% in slightly weathered granite strata. The closer position to the tip of the conical pick is, the more serious the wear is and the greater the wear depth is. By taking the mitigation technology of wear, the service life is doubled when the conical pick autorotates in slightly weathered granite strata. These findings have a significant reference for determining the replacement time of the conical pick on the Shaft Boring Roadheader.</p>