A method for removing full bobbins from spindles of a ring spinning machine and for setting down empty sleeves on the spindles using a doffer is disclosed. The doffer has a beam and a rotatable gripping device that is mounted on the beam and has a sleeve gripper and a bobbin gripper, wherein the doffer is arranged next to the ring spinning machine. The beam is raised vertically and the gripping device is extended from the beam over the full bobbin. The invention also relates to a doffer having the corresponding drives.

Provided is a transfer vehicle, including: a vehicle body; a rotating mechanism, including an annular track vertically arranged above the vehicle body, a crawler belt arranged along an end surface of the annular track, and a first driving device connected to the crawler belt; a plurality of material receiving rods arranged at intervals on a side of the rotating mechanism, wherein each material receiving rod includes an inner rod and an outer rod sleeved on the inner rod, and the inner rod is connected to the crawler belt; a docking auxiliary mechanism arranged beside a docking station on the side of the rotating mechanism, including a pushing device and a positioning device, wherein the positioning device is configured to determine an orientation of a target docking position; and a control mechanism configured to control movement of the vehicle body.