The invention discloses a pipe joint sealing device. The pipe joint sealing device comprises device supporting rods, and device bases are fixedly connected under the device supporting rods. Accordingto the pipe joint sealing device, a sealing metal ring is arranged, a pipe is inserted into a pipe clamping groove in a penetrating mode, by rotating a handle, the handle drives a rotating shaft to rotate, then an inner rod is driven to move upwards through meshing teeth on the rotating shaft and meshing teeth on one side of the inner rod, so that the pipe is fixed between an anti-skid clamping plate and an arc-shaped soft cushion, then a second servo motor is turned on to drive a second sleeve rod to move left and right, a pipe joint is aligned to the sealing metal ring, so that the pipe joint is attached to the inner wall of the sealing metal ring, a threaded column is inserted into threaded grooves, the distance between the threaded grooves is changed through screwing nuts, so that thesealing metal ring is fixed at the pipe joint through connecting metal, then filling materials fill the inner wall of the sealing metal ring and the pipe joint through filling material inlets, so thatthe sealing effect is better.