The invention relates to a worsted doffing machine. The worsted doffing machine comprises a rack moving trolley, an electrical equipment control box, an inserting and drawing tube positioning power device, a tube drawing device, a pipe inserting device, a yarn pressing device, a chopping composite yarn cutting device and a pipe pressing device. After corresponding, vertical and parallel positioning with a fine spinning machine spindle blade inserting and drawing station is completed on a trolley box through a spindle pitch positioning device, a walking support device and a walking parallel positioning device, a trolley walking driving device is driven to travel along an upper creel and a lower creel of a fine spinning machine, by combining the condition that a crawler-type positioning driving belt is meshed with each ingot phase of the fine spinning machine, feeding is conducted along a fine spinning machine track, and meanwhile integrated operation of tube drawing, tube inserting, yarn pressing, yarn cutting and tube pressing corresponding to the yarn pressing device, the tube drawing device, the chopping composite yarn cutting device, the tube inserting device and the tube pressing device corresponding to each spindle blade is accurately controlled.