The invention relates to the field of spinning equipment, in particular to a fully-independent servo drive rapier loom which comprises an electronic yarn letting-off part, an electronic taking-up part, an electronic beating-up part and an electronic weft insertion part, and is mainly composed of a servo motor, a beating-up shaft, a steel buckle, a beating-up shaft support seat, a rapier belt wheel, a speed reducer, a gear, a yarn letting-off shaft, a cloth roller and a servo motor shaft. The fully-independent servo drive rapier loom is characterized by being controlled by full servo, the weft insertion, beating-up, yarn letting-off and rolling of the loom are completely driven by a servo driver and are accurately located, the whole loom works by cooperation of a main control unit, a high-performance servo system can provide flexible, convenient, accurate and rapid drive, and complex linkage and digital interlocking are carried out in the electric aspect; and compared with the conventional loom, the fully-independent servo drive rapier loom has the advantages of convenience in process regulation, simplicity, reliability, no quick-wear part and maintenance cost saving, and is suitable for all fields in the spinning industry.