The invention relates to a manipulator system of an automatic doffing system. A reciprocating car and a manipulator are further provided. The reciprocating car is mounted on rails, and the manipulator system is installed on the reciprocating car. Input ends of various manipulators of the manipulator system respectively mesh with a cam on a driving shaft. An air-intake connecting manipulator is assembled by a negative-pressure air intake, a rubber sleeve, a rubber sleeve operation manipulator and an air-intake operation manipulator. A lifting manipulator consists of a four-bar linkage. A pressing manipulator and an opening manipulator respectively consist of axially moving single-bar linkages. A spool changing manipulator consists of an execution part and a driving part. Each of a doff sucking manipulator, a coiling drive manipulator and a pushing manipulator consists of a single-bar linkage. A hanging manipulator consists of a single-bar linkage and an air cylinder. The air-intake connecting manipulator consists of a single-bar linkage and an air cylinder. A spool positioning manipulator consists of two air cylinders and a linkage. The manipulator system has the advantages of labor intensity reduction and production efficiency improvement.