The invention discloses a high-precision and high-rigidity radial-axial combined bearing which mainly consists of a housing washer, a first shaft washer, a second shaft washer, lower-row axial rollers, upper-row axial rollers, a self-locking screw, a lower-row retainer, an upper-row retainer and radial rollers; the first shaft washer and the second shaft washer are connected into a whole body by the self-locking screw to form two axial race surfaces and a radial race surface; the housing washer is provided with three race surfaces, an axial lower race surface is connected with the first shaftwasher by the lower-row axial rollers, an axial upper race surface is connected with the second shaft washer by the upper-row axial rollers, and a radial race surface of the housing washer is connected with the first shaft washer by the radial rollers; the lower-row axial rollers are connected with the lower-row retainer, and the upper-row axial rollers are connected with the upper-row retainer. The radial-axial combined bearing has the beneficial effects of meeting the axial and radial high-rigidity requirements of the bearing, and meeting the requirements of the product for low friction andhigh lubrication.