The utility model relates to a transmission tube gapless connection device for spinning frame collective doffing. Air drum hanger transmission tubes (5, 6) are arranged in a transmission tube joint (1); bolt combinations (2) simultaneously penetrate through the transmission tube joint (1) and location holes of the air drum hanger transmission tubes (5, 6), and lock the air drum hanger transmission tubes (5, 6) tight; expansion wedge blocks (3) are arranged on an expansion slope of the end face of the first air drum hanger transmission tube (5) and an expansion slope of the end face of the second air drum hanger transmission tube (6) respectively; a screw combination (4) penetrates through the expansion wedge blocks (3) to expand the transmission tubes tight and fix the transmission tubes. Pin holes are adopted for being connected with hinge pins, and the slopes of the expansion wedge blocks are pressed tight to eliminate clearance, so that gapless connection of the transmission tubes is achieved. According to the gapless connection of the transmission tubes, the stoke differences between the heads and tails of the transmission tubes are eliminated thoroughly, all positions of an air drum hanger are equal in height, and the actions synchronize completely, so that the phenomenon that cop tubes at the head part cannot be installed at the correct position of a spindle is avoided. Therefore, the reliability of spinning frame collective doffing is further improved, and the overall operating efficiency of a collective doffing long machine is effectively enhanced.