This utility model discloses an improved device for cleaning bedrock surfaces in tunnels, including a second connector and a cleaning assembly. The second connector is used to connect the cleaning assembly and a robotic arm. The cleaning assembly includes a first connector that is detachably connected to the second connector. A wire brush head is provided at the end of the first connector away from the second connector, which can be used in conjunction with the robotic arm. When cleaning the excavated bedrock surface, the excavator is operated, and the wire brush head is used to quickly clean the loose debris on the foundation surface, realizing mechanized construction and greatly improving construction efficiency.