The application provides a foldable mechanical arm cabin scanning device, which comprises a fixed arm, a horizontal telescopic arm, a vertical telescopic arm and a rotary arm, wherein the fixed arm is used for connecting the horizontal telescopic arm; one end of the horizontal telescopic arm is connected to the fixed arm, and the other end is provided with a hatch clamp; one end of the vertical telescopic arm is connected below the center of the fixed arm, and the other end is connected to the rotary arm through a rotary mechanism; one end of the rotary arm is connected to the vertical telescopic arm through the rotary mechanism, and the other end is provided with a spray head and a swing device. The foldable mechanical arm automatic cabin cleaning device has telescopic and folding functions, can adjust the length and shape according to different requirements of the cabin, and has flexibility, so that the cabin cleaning device can adapt to cabins of different sizes and shapes, can clean more difficult-to-reach areas, and improves the comprehensiveness of the cleaning effect; the spray head is rotated through the rotary mechanism, can clean each part of the cabin, realizes dead angle-free cleaning, and improves the cleaning efficiency and quality.