The invention relates to a combined automatic doffing trolley which comprises an empty
bobbin insertion device, a full
bobbin pulling device, a traveling trolley device and an
electric control system. Empty bobbins which are quantitatively conveyed a screw driving mechanism can be conveyed by the empty
bobbin insertion device and can be inserted perpendicularly or obliquely by the empty bobbin
insertion device; full bobbins and spindle blades are preliminarily loosened by the full bobbin pulling device when yarns are about to be pulled, and then the full bobbin pulling device perpendicularly pulls the full bobbins by the aid of a
manipulator; the traveling trolley device can drive the empty bobbin
insertion device and the full bobbin pulling device to continuously insert and pull the bobbins; the empty bobbins in the empty bobbin
insertion device can be conveyed under the control of the
electric control system, the positions of the empty bobbins can be detected by the
electric control system, and the traveling trolley device can move under the control of the electric
control system. The combined automatic doffing trolley has the advantages that the bobbins can be inserted by the empty bobbin
insertion device in large and
small head differentiated bobbin perpendicular insertion, large and
small head differentiated oblique insertion, large and
small head non-differentiated perpendicular insertion and large and small head non-differentiated oblique insertion
modes, the bobbin insertion device and the bobbin pulling device can automatically advance to bobbin insertion and pulling positions, and accordingly the bobbins can be continuously pulled and inserted; the bobbins can be continuously perpendicularly pulled and inserted,
spinning spindles and the yarns can be prevented from being damaged, and the combined automatic doffing trolley is high in work efficiency.