Crossed roller bearings for harmonic reducers are divided into two categories according to their use occasions: split outer ring, integral inner ring, and both outer ring and inner ring are integral. The rolling elements are cylindrical rollers, which are arranged vertically at 90° to each other in the V-shaped raceway. Bearings with this structure can simultaneously withstand loads in various directions such as axial load, radial load and overturning moment. The bearings have high precision, high rigidity and composite load capacity. Crossed roller bearings for harmonic reducers include four series, CSG (CSF) series, CSD series, SHG (SHF) series, SHD series, and their naming method adopts the naming of reducers.

The outer ring is divided into two pieces, and the inner ring is an integral structure. Flanges and bearing seats are not required for installation. They are mainly used in the output parts of CSG and CSF series reducers.

The outer and inner rings of CSD are both integral structures, and the outer diameter size is the same as that of CSG type. It has higher rigidity than CSG type bearings and is mainly used in the output parts of CSD series reducers.

The SHG (SHF) type outer ring and inner ring are both integral structures, which have almost no effect on performance during installation, and can obtain stable rotation accuracy and torque. They are mainly used in the output parts of SHG and SHF series reducers.

The SHD type outer ring and inner ring are both integral structures, and the height is lower than that of SHG, which saves the installation space of the reducer. It is mainly used in the output part of the SHD reducer.