Pipe rubbing device and pipe rubbing drilling rig

The utility model relates to the technical field of pile foundation construction machines and discloses a pipe rubbing device which comprises a first pipe rubbing oil cylinder, a second pipe rubbing oil cylinder and an articulated shaft, wherein, a back support part of the first pipe rubbing oil cylinder is connected with the articulated shaft through a movable connecting part, and the back support part of the second pipe rubbing oil cylinder is directly connected with the articulated shaft. The pipe rubbing device adopts the structure that the back support part of the first pipe rubbing oil cylinder is connected with the articulated shaft through the movable connecting part, the movable connecting part can rotate within a certain angle range, and an included angle formed by the first piperubbing oil cylinder and the second pipe rubbing oil cylinder in the vertical direction can be offset by the rotation of the back support part of the first pipe rubbing oil cylinder. Therefore, the back support part of the first pipe rubbing oil cylinder and the back support part of the second pipe rubbing oil cylinder can not produce the interference. The pipe rubbing device can simultaneously do the pipe rubbing motion during the lifting process of a main clamping disc, and the construction efficiency is higher. The utility model further provides a pipe rubbing drilling rig.