The invention provides a tapered roller driving wheel set. The tapered roller driving wheel set is characterized by comprising a wheel set body; the wheel set body comprises a wheel seat; the wheel seat is connected with rollers; wheel axle pressing blocks are connected with the two sides of each roller, a speed reducer connecting ring is connected to the other side of one wheel axle pressing block, a speed reducer is connected with the other end of the speed reducer connecting ring, and a servo motor is connected to the other end of the speed reducer; the wheel seat is further provided with a spherical bearing and an auxiliary adjusting device; a flat key is arranged in each roller; the inner end face of each flat key is connected with a wheel axle; and the two ends of each wheel axle are supported by a first centering roller bearing and a second centering roller bearing correspondingly and fixed to the wheel seat through the corresponding pair of wheel axle pressing blocks. By the adoption of the technical scheme, slipping caused by different linear speeds of the inner ring and the outer ring of each roller is avoided, the motion accuracy and stability are improved, the spherical bearing can adapt to variation of the flatness of a guide rail, and the maintenance cost is low.