To make a removing unit smoothly movable even if a difference in level exists on the inner surface of a pipe.

In the cleaning device, the removing unit 1 is constituted by providing a striking member 8 supported so as to be freely shaken around an oscillation axis Y, which is eccentric from rotary axis X along the longitudinal direction of a pipe, in the peripheral direction of the pipe and a drive part 9 for rotationally driving a rotary member 7 to the rotary member 7 rotated around the rotary axis X. This removing unit 1 is moved through the pipe while striking the inner surface of the pipe with the striking member by rotationally driving the rotary member to remove matter having adhered to the inner surface of the pipe. A front guide member 3, which is equipped with a projected curved surface 2 projected toward the front in the moving direction within the pipe, is provided to the front in the moving direction within the pipe for the adhered matter removing work of the removing unit.