Weaving machine, also known as spinning machine, loom, cotton spinning machine, etc., the early weaving machine was driven by manpower. The technology of shuttle less loom has been studied since the 19th century, and has been put into the market since the 1950s. Since 1970s, many new shuttleless looms have been put into the market. Shuttleless loom has made remarkable achievements in improving fabric and loom efficiency. It has been widely used in the world, and has accelerated the process of weaving equipment transformation. Shuttleless loom has occupied about 80% of the total in many developed countries. There is a general trend of replacing shuttle loom with shuttleless loom.

In the production practice of weaving, people have gradually innovated and successfully created the oblique loom with foot lift heald. Its image appeared many times on the stone relief of Han Dynasty. This kind of oblique loom already has a frame, the warp surface and the horizontal frame are at an angle of 50-60 degrees, and the opening device of foot lift heald is adopted. Weavers can operate with both hands and feet, and their productivity is generally 10 times higher than that of the original loom. It was the most advanced loom in the world at that time.