Rotation mechanism and duct inner wall cleaning device equipped with the same

Abstract

To provide a rotation mechanism, and a duct inner wall surface cleaning device which can perform both rotation of a plurality of cleaning mechanisms and movement of a robot by the rotation mechanism.SOLUTION: There are provided a rotation mechanism which includes a driving source 10 having a first rotation shaft 3, a cylindrical fixing housing 30 for storing and fixing the driving source, a speed change mechanism 50 having a second rotation shaft 5 for changing the speed of output rotation of the first rotation shaft, and rotating at rotation speed different from the rotation speed of the first rotation shaft, a cylindrical rotation housing 70 for receiving the rotation of the second rotation shaft, and rotating, base brackets arranged so as to face each other and sandwich the rotation housing, and a pair of arm parts fixed to a driven body outside a system; and a duct inner wall surface cleaning device in which ends of first rotation shafts of a pair of rotation mechanisms rotate a plurality of cleaning mechanisms, and rotation housings of the pair of rotation mechanisms are rotated in a state of being brought into contact with the inner wall surface of a duct as a cleaning object, and thereby move a duct cleaning device forward or backward.SELECTED DRAWING: Figure 1

Description

[Technical field]

[0001] The present invention relates to a rotation mechanism and a duct inner wall surface cleaning device equipped with the same. [Background technology]

[0002] Air conditioning ducts need to be periodically cleaned to remove dust that accumulates during use, but because the interior space of the duct is narrow and long, cleaning robots are used.

[0003] Patent Document 1 discloses a robotic cleaning machine for cleaning ducts, which has a rotating brush that can swing up and down attached to a machine base having drive wheels. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 11-42467 Summary of the Invention [Problem to be solved by the invention]

[0005] However, the duct cleaning machine described in Patent Document 1 requires separate rotation mechanisms for rotating the brush, which is the cleaning mechanism, and for moving the robot, which makes the device complicated.

[0006] In view of the above problems, the present invention proposes a rotation mechanism capable of outputting three power sources from a single rotation mechanism, and a duct inner wall cleaning device that can both rotate multiple cleaning mechanisms and move a robot using the rotation mechanism. [Means for solving the problem]

[0007] In order to solve the above problems, the rotation mechanism of the present invention comprises: a drive source having a first rotating shaft and rotating the first rotating shaft; a cylindrical fixed housing that accommodates and fixes the driving source; a transmission mechanism disposed on one side of the first rotating shaft in the axial direction so as to be aligned with the drive source and fixed to the fixed housing, the transmission mechanism including a second rotating shaft connected to the first rotating shaft, changing a speed of an output rotation of the first rotating shaft, and rotating at a rotational speed different from the rotational speed of the first rotating shaft; a cylindrical rotating housing arranged around the first rotating shaft to surround an outer periphery of the fixed housing and the speed change mechanism; A pair of annular members are disposed opposite to each other so as to sandwich the rotating housing in the axial direction of the first rotating shaft. A pair A base bracket and a pair of arms provided on the pair of base brackets and fixed to a driven body outside the system; A rotation mechanism comprising: the first rotating shaft penetrates the fixed housing, the transmission mechanism, the rotating housing, and the pair of base brackets, and both ends of the first rotating shaft each extend a predetermined length outside the pair of base brackets, the fixed housing rotatably supports the first rotating shaft via a pair of first rotation support mechanisms arranged to sandwich the drive source in an axial direction of the first rotating shaft; the other end of the fixed housing in the axial direction of the first rotating shaft rotatably supports the rotating housing via a second rotating support mechanism disposed between the fixed housing and the rotating housing; each of the pair of base brackets rotatably supports the rotating housing via a third rotation support mechanism disposed between the pair of base brackets and the rotating housing; the pair of base brackets includes a first base bracket disposed on the one side and a second base bracket disposed on the other side, the second base bracket being connected and fixed to an end portion of the fixed housing on the other side; The rotating housing is connected to the second rotating shaft and receives rotation of the second rotating shaft to rotate about the first rotating shaft.

[0008] With this configuration, three rotational forces can be simultaneously output from one rotating mechanism: the rotational force from each end of the first rotating shaft extending on both ends of the rotating mechanism and the rotational force of the rotating housing. This results in reduced power consumption compared to when the three rotational forces are generated using multiple rotating mechanisms.

[0009] In the rotation mechanism of the present invention, The stationary housing has a pair of stationary end brackets disposed to cover respective ends of the stationary housing; the transmission mechanism is fixed to the fixed housing via a first fixed end bracket which is the fixed end bracket on the one side, The rotating housing has movable end brackets, which are a pair of annular members disposed along edges of the ends of the rotating housing and covering at least a portion of the ends, the rotating housing and the second rotating shaft are connected via a first movable end bracket, which is the movable end bracket on the one side; the fixed housing rotatably supports the rotating housing via the second rotating support mechanism disposed between a second movable end bracket which is the movable end bracket on the other side and a second fixed end bracket which is the fixed end bracket on the other side, the first base bracket rotatably supports the rotating housing via the third rotation support mechanism disposed between the first base bracket and the first movable end bracket; The second base bracket may be arranged opposite the second fixed end bracket so as to sandwich the second movable end bracket between the second fixed end bracket and the second base bracket in the axial direction of the first rotating shaft, and may be connected and fixed to the fixed housing via the second fixed end bracket, and may rotatably support the rotating housing via the third rotating support mechanism arranged between the second base bracket and the second movable end bracket.

[0010] With this configuration, it is possible to reliably fix the fixed housing to the speed change mechanism, connect the rotating housing to the second rotating shaft, and support the rotating housing rotatably between the fixed housing and the base bracket. Also, the rotating mechanism can be easily assembled.

[0011] In addition, the duct inner wall surface cleaning device using the rotation mechanism of the present invention is A duct inner wall surface cleaning device including a pair of the rotation mechanisms, a housing having cleaning mechanisms arranged on a top surface side, a bottom surface side, a right surface side, and a left surface side, respectively, a fixing mechanism for fixing the rotating mechanism, and a control mechanism for controlling the rotation of the rotating mechanism; Each of the cleaning mechanisms comprises: A rotating disk and A removal means that constitutes one surface of the rotating disk and is configured to rotate with the rotation of the rotating disk while contacting the inner wall surface of the duct to be cleaned and remove dirt from the inner wall surface; a removal means rotation shaft disposed on a surface opposite to a surface constituted by the removal means; a rotation transmission mechanism that transmits rotation of the rotation mechanism to the removal means rotation shaft; the removal means is rotatably supported by the housing via the removal means rotation shaft so that the removal means faces the outside of the housing, the pair of rotation mechanisms are arranged in parallel such that the first rotation axes of the rotation mechanisms are both oriented in the up-down direction or the left-right direction of the housing, and are fixed to the housing via the fixing mechanism; the fixing mechanism supports the pair of rotating mechanisms so as to be movable in directions away from and toward each other, and has a separation state maintaining mechanism that maintains a state in which each of the pair of rotating mechanisms is moved away from each other to a position in contact with an inner wall surface of a duct to be cleaned, the ends of the first rotating shafts of the pair of rotating mechanisms are connected to the removal means rotating shafts of the different cleaning mechanisms via the rotation transmission mechanisms, and the rotating disks are rotated around the removal means rotating shafts as rotation centers; The rotating housings of the pair of rotating mechanisms rotate while in contact with the inner wall surface of the duct to be cleaned, thereby moving the duct inner wall surface cleaning device forward or backward.

[0012] With this configuration, the rotational force of each end of the first rotating shaft extending on both ends of the rotating mechanism can be used to rotate different cleaning mechanisms, and the rotational force of the rotating housing can be used to move the cleaning device back and forth. Therefore, compared to a case in which separate rotation mechanisms are provided for the operation of the cleaning mechanism and the movement of the cleaning device, fewer rotation mechanisms are required, resulting in power savings.

[0013] In addition, the speed change mechanism changes the output rotation of the first rotating shaft and rotates the rotating housing via the second rotating shaft at a rotational speed that is a predetermined amount slower than the rotational speed of the first rotating shaft, thereby slowing down the movement speed within the duct and allowing the cleaning mechanism that cleans the inner wall surface to operate at high speed, thereby increasing the reliability of removing dirt from the inner wall surface.

[0014] In addition, the duct inner wall surface cleaning device A sensor for detecting a distortion of the housing is provided, When the degree of the distortion reaches or exceeds a predetermined value, the control mechanism may reverse the rotation of the rotation mechanism, thereby causing the duct inner wall surface cleaning device to move backward.

[0015] With this configuration, if the inside of the duct becomes narrower while moving inside the duct and there is a risk that the cleaning device will not be able to continue moving forward, the duct inner wall cleaning device can be retreated and returned to the outside of the duct. [Brief description of the drawings]

[0016] [Figure 1] FIG. [Diagram 2] FIG. 2 is a perspective view of the duct inner wall surface cleaning device. [Diagram 3] FIG. 2 is an exploded view of the duct inner wall surface cleaning device. [Figure 4] FIG. 4 is a front view of the fixing mechanism of the duct inner wall surface cleaning device. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0017] Hereinafter, an embodiment of a rotation mechanism according to the present invention will be described with reference to the drawings, but the scope of the present invention is not limited to these embodiments. EXAMPLES

[0018] (Configuration of Rotation Mechanism) Fig. 1 is a front cross-sectional view of the rotation mechanism proposed in the present invention. As shown in Fig. 1, the rotation mechanism 1 of this embodiment includes a drive source 10 having a first rotating shaft 3, a fixed housing 30, a speed change mechanism 50, a rotating housing 70, a base bracket 90, and an arm portion 7.

[0019] The first rotating shaft 3 is disposed penetrating the fixed housing 30, the speed change mechanism 50, the rotating housing 70, and the base bracket 90. The first rotating shaft 3 is connected to the speed change mechanism 50 on one side in the axial direction of the first rotating shaft 3 (the right side in FIG. 1), and both ends of the first rotating shaft 3 extending a predetermined length outside the base bracket 90 can each output rotation by being connected to the outside.

[0020] The driving source 10 is an electric motor consisting of a stator and a rotor, and may be, for example, an induction motor such as a squirrel-cage motor, or a synchronous motor such as a brushless motor.

[0021] The driving source 10 is disposed inside the fixed housing 30 so as to be aligned with the speed change mechanism 50 on the other axial side (the left side in FIG. 1) and is fixed to the fixed housing 30.

[0022] The fixed housing 30 is cylindrical and is arranged around the first rotating shaft 3 so as to surround the outer periphery of the drive source 10 and the transmission mechanism 50, and a pair of fixed end brackets 31 are arranged to cover the ends of the fixed housing 30.

[0023] The pair of fixed end brackets 31 are composed of a first fixed end bracket 31a arranged to cover the end on one axial side (right side in Figure 1) of the fixed housing 30, and a second fixed end bracket 31b arranged at the end on the other axial side (left side in Figure 1).

[0024] The first fixed end bracket 31a and the second fixed end bracket 31b of the fixed housing 30 rotatably support the first rotating shaft 3 via a pair of first rotating support mechanisms 33 arranged to sandwich the drive source 10 in the axial direction of the first rotating shaft 3.

[0025] The speed change mechanism 50 is a mechanism that changes the speed of the output rotation of the first rotating shaft 3 to rotate the second rotating shaft 5 at a rotation speed different from the rotation speed of the first rotating shaft 3, and may be, for example, a hollow mechanism transmission or a reduction gear. More specifically, the speed change mechanism 50 is a mechanism that rotates the second rotating shaft 5 at a rotation speed that is a predetermined amount slower than the rotation speed of the first rotating shaft 3. The speed change mechanism 50 has a speed ratio of, for example, 1 / 59, but an appropriate speed change ratio may be adopted as necessary.

[0026] The transmission mechanism 50 is disposed inside the fixed housing 30, side by side with the drive source 10 on one axial side of the first rotating shaft 3 (the right side in FIG. 1), and is fixed to the fixed housing 30 via a first fixed end bracket 31a.

[0027] The rotating housing 70 is arranged around the first rotating shaft 3 to surround the outer periphery of the fixed housing 30 and the transmission mechanism 50, and a pair of annular members, movable end brackets 71, are arranged along the edges of the ends of the rotating housing 70.

[0028] The movable end bracket 71 is composed of a first movable end bracket 71a arranged to cover at least a portion of the end of the rotating housing 70 on one axial side (right side in Figure 1), and a second movable end bracket 71b arranged at the end of the rotating housing 70 on the other axial side (left side in Figure 1), and the rotating housing 70 and the second rotating shaft 5 are connected via the first movable end bracket 71a.

[0029] The rotating housing 70 is rotatably supported by the fixed housing 30 via a second rotating support mechanism 34 disposed between the second movable end bracket 71b and the second fixed end bracket 31b.

[0030] The base bracket 90 is a pair of annular members, consisting of a first base bracket 90a arranged on one axial side (right side in Figure 1) and a second base bracket 90b arranged on the other axial side (left side in Figure 1). The pair of base brackets 90 are arranged opposite each other so as to sandwich the rotating housing 70 in the axial direction of the first rotating shaft 3.

[0031] The first base bracket 90a rotatably supports the rotatable housing 70 via the third rotation support mechanism 35 disposed between the first base bracket 90a and the first movable end bracket 71a.

[0032] The second base bracket 90b rotatably supports the rotating housing 70 via the third rotation support mechanism 35 disposed between the second base bracket 90b and the second movable end bracket 71b.

[0033] The second base bracket 90b is positioned opposite the second fixed end bracket 31b so as to sandwich the second movable end bracket 71b in the axial direction of the first rotating shaft 3, and is connected and fixed to the fixed housing 30 via the second fixed end bracket 31b.

[0034] The arm 7 is, for example, a plate-shaped member provided on each of the first base bracket 90a and the second base bracket 90b. One end of the arm 7 is connected to the first base bracket 90a or the second base bracket 90b, and the other end is fixed to a driven body outside the system.

[0035] When the rotor of the drive source 10 rotates to rotate the first rotating shaft 3, the transmission mechanism 50 connected to the first rotating shaft 3 changes the output rotation of the first rotating shaft 3 to rotate the second rotating shaft 5 at a rotational speed different from the rotational speed of the first rotating shaft 3 (for example, at a rotational speed that is slower than the rotational speed of the first rotating shaft 3 by a predetermined amount).

[0036] That is, for example, when the speed change mechanism 50 is a hollow mechanism transmission as illustrated in Fig. 1, the first rotating shaft 3 functions as an input shaft for the speed change mechanism 50, and each of the second rotating shafts 5 provided in the speed change mechanism 50 rotates upon receiving the rotation of the first rotating shaft 3 and revolves around the first rotating shaft 3 as the center of rotation. Upon receiving such rotation of the second rotating shafts 5, the rotating housing 70 rotates around the first rotating shaft 3 as the center of rotation.

[0037] (Configuration of duct inner wall cleaning device) Fig. 2 is a perspective view of a duct inner wall cleaning device proposed in the present invention. As shown in Fig. 2, a duct inner wall cleaning device 100 of this embodiment includes a housing 170 having a pair of rotation mechanisms 1, a cleaning mechanism 110, a fixing mechanism 130, and a control mechanism 150 (not shown) that controls the rotation.

[0038] 3 is an exploded view of the duct inner wall cleaning device proposed in the present invention. As shown in FIG. 3, the cleaning mechanism 110 of this embodiment is composed of a rotating disk 111, a removing means 112, a removing means rotating shaft 113, and a rotation transmission mechanism 114.

[0039] The rotating disk 111 is, for example, disk-shaped with a diameter equal to the length of the short side of one side of the housing 170, and has a notch into which the removal means 112 can be attached and a hole into which the removal means rotation shaft 113 is inserted and fixed.

[0040] The removing means 112 constitutes one surface of the rotating disk 111, and only needs to be able to scrape off dust from the inner wall surface of the duct, and for example, a brass brush, a resin brush, or a mop made of twisted fibers in tufts can be used. The removing means 112 is disposed facing the outside of the housing 170, and a removing means rotation shaft 113 is disposed on the surface opposite to the surface constituted by the removing means 112. The cleaning mechanism 110 is rotatably supported by the housing 170 via the removing means rotation shaft 113.

[0041] The rotation transmission mechanism 114 transmits the rotation of the rotation mechanism 1 to the removal means rotation shaft 113, and may be, for example, a belt, a bevel gear, a joint, or the like.

[0042] The ends of the first rotating shafts 3 of the pair of rotating mechanisms 1 are connected to the removal means rotating shafts 113 of the different cleaning mechanisms 110 via rotation transmission mechanisms 114, respectively.

[0043] The cleaning mechanisms 110 are arranged on the top, bottom, right and left sides of the housing 170, and the removal means 112 of each cleaning mechanism 110 comes into contact with the inner wall surface of the duct to be cleaned while the turntable 111 of each cleaning mechanism 110 rotates around the removal means rotation axis 113 as the center of rotation, thereby removing dirt from the inner wall surface of the duct.

[0044] Fig. 4 is a front view of the fixing mechanism 130. As shown in Fig. 4, the fixing mechanism 130 of the present embodiment fixes a pair of rotation mechanisms 1 to the housing 170 in a state in which the first rotation shafts 3 of the rotation mechanisms 1 are arranged in parallel with each other so that they both face in the up-down or left-right direction of the housing 170.

[0045] The fixing mechanism 130 supports the pair of rotating mechanisms 1 so that they can move away from each other and towards each other, and has a separation state maintaining mechanism 131 that maintains the state in which each of the pair of rotating mechanisms is moved away from each other to a position where it contacts the inner wall surface of the duct to be cleaned.

[0046] The separated state maintaining mechanism 131 is composed of, for example, a spring 132 and a stopper (not shown), and the repulsive force of the spring 132 acts to push each of the pair of rotating mechanisms 1 toward the inner wall surface of the duct to be cleaned (left and right direction in FIG. 4), and the stopper regulates the pair of rotating mechanisms 1 so that they are not pushed toward the inner wall surface of the duct more than a predetermined amount. That is, FIG. 4 shows a state in which the spring 132 is compressed. In this state, the duct inner wall surface cleaning device 100 is placed inside the duct to be cleaned, and then the repulsive force of the spring 132 pushes the rotating housings 70 of the pair of rotating mechanisms 1 until they come into contact with the inner wall surface of the duct to be cleaned.

[0047] In this embodiment, the outer peripheral surface of the rotating housing 70 is covered with an elastic body 73 such as rubber, which is configured to prevent the rotating housing 70 from spinning freely on the inner wall surface of the duct to be cleaned when it rotates.

[0048] In this way, the separation state maintaining mechanism 131 brings each rotating housing 70 of the pair of rotating mechanisms 1 into contact with the inner wall surface of the duct to be cleaned, and by rotating the rotating housing 70 via the second rotating shaft 5, the duct inner wall surface cleaning device 100 can be moved forward or backward.

[0049] The control mechanism 150 is, for example, a computer that is composed of an arithmetic processing device such as a CPU (Central Processing Unit), memory, and I / O (Input / Output) devices, storage devices such as ROM (Read Only Memory), RAM (Random Access Memory), and HDD (Hard Disk Drive), and a power source such as a battery.

[0050] The control mechanism 150 reads and executes a predetermined program from the storage device, thereby controlling whether or not to rotate and the rotation direction of the first rotating shaft 3. By controlling the rotation direction of the first rotating shaft 3, the rotation direction of the linked second rotating shaft 5 is controlled, and by determining the direction in which the duct inner wall surface cleaning device 100 moves inside the duct, dirt on the inner wall surface is reliably removed.

[0051] The housing 170 is a hollow cube or rectangular parallelepiped composed of six thin metal plates. A sensor is provided inside the housing 170 to detect distortion between the plates that compose the housing 170, and when the degree of distortion reaches a predetermined value or more, the control mechanism 150 reverses the rotation of the rotation mechanism 1, thereby causing the duct inner wall surface cleaning device 100 to move backward. As a result, even if the duct inner wall surface cleaning device 100 enters a duct that is too narrow to pass through, the device can be moved backward and returned to the outside of the duct. [Explanation of symbols]

[0052] 1...rotation mechanism, 3...first rotating shaft, 5...second rotating shaft, 7...arm portion, 10...driving source, 30...fixed housing, 31...fixed end bracket, 33...first rotation support mechanism, 34...second rotation support mechanism, 35...third rotation support mechanism, 50...speed change mechanism, 70...rotating housing, 71...movable end bracket, 73...elastic body, 90...base bracket, 100...duct inner wall cleaning device, 110...cleaning mechanism, 111...rotating disk, 112...removal means, 113...removal means rotating shaft, 114...rotation transmission mechanism, 130...fixing mechanism, 131...separation state maintaining mechanism, 132...spring, 150...control mechanism, 170...housing.

Claims

1. A drive source having a first rotation shaft and rotating the first rotation shaft; a cylindrical fixed housing that accommodates and fixes the driving source; a transmission mechanism disposed on one axial side of the first rotating shaft so as to be aligned with the drive source and fixed to the fixed housing, the transmission mechanism including a second rotating shaft connected to the first rotating shaft, changing a speed of an output rotation of the first rotating shaft, and rotating at a rotational speed different from the rotational speed of the first rotating shaft; a cylindrical rotating housing arranged around the first rotating shaft to surround an outer periphery of the fixed housing and the speed change mechanism; a pair of base brackets which are a pair of annular members arranged opposite to each other so as to sandwich the rotating housing in the axial direction of the first rotating shaft; a pair of arms provided on the pair of base brackets and fixed to a driven body outside the system; A rotation mechanism comprising: the first rotating shaft penetrates the fixed housing, the transmission mechanism, the rotating housing, and the pair of base brackets, and both ends of the first rotating shaft each extend a predetermined length outside the pair of base brackets, the fixed housing rotatably supports the first rotating shaft via a pair of first rotation support mechanisms arranged to sandwich the drive source in an axial direction of the first rotating shaft, the other end of the fixed housing in the axial direction of the first rotating shaft rotatably supports the rotating housing via a second rotating support mechanism disposed between the fixed housing and the rotating housing; each of the pair of base brackets rotatably supports the rotating housing via a third rotation support mechanism disposed between the pair of base brackets and the rotating housing; the pair of base brackets includes a first base bracket disposed on the one side and a second base bracket disposed on the other side, the second base bracket being connected and fixed to an end portion of the fixed housing on the other side; The rotating housing is connected to the second rotating shaft and rotates around the first rotating shaft in response to the rotation of the second rotating shaft. A rotation mechanism characterized by:

2. 2. The rotation mechanism according to claim 1, The stationary housing has a pair of stationary end brackets disposed to cover respective ends of the stationary housing; the transmission mechanism is fixed to the fixed housing via a first fixed end bracket which is the fixed end bracket on the one side, The rotating housing has movable end brackets, which are a pair of annular members disposed along edges of the ends of the rotating housing and covering at least a portion of the ends, the rotating housing and the second rotating shaft are connected via a first movable end bracket, which is the movable end bracket on the one side; the fixed housing rotatably supports the rotating housing via the second rotation support mechanism disposed between a second movable end bracket which is the movable end bracket on the other side and a second fixed end bracket which is the fixed end bracket on the other side, the first base bracket rotatably supports the rotating housing via the third rotation support mechanism disposed between the first base bracket and the first movable end bracket, The second base bracket is disposed opposite the second fixed end bracket so as to sandwich the second movable end bracket in the axial direction of the first rotating shaft, and is connected and fixed to the fixed housing via the second fixed end bracket, and rotatably supports the rotating housing via the third rotation support mechanism disposed between the second base bracket and the second movable end bracket. A rotation mechanism characterized by:

3. A duct inner wall surface cleaning device comprising a pair of the rotation mechanisms according to claim 1 or 2, a housing having cleaning mechanisms arranged on a top surface side, a bottom surface side, a right surface side, and a left surface side, respectively, a fixing mechanism for fixing the rotating mechanism, and a control mechanism for controlling the rotation of the rotating mechanism; Each of the cleaning mechanisms comprises: A rotating disk and A removal means that constitutes one surface of the rotating disk and is configured to rotate with the rotation of the rotating disk while contacting the inner wall surface of the duct to be cleaned and remove dirt from the inner wall surface; a removal means rotation shaft disposed on a surface opposite to a surface constituted by the removal means; a rotation transmission mechanism that transmits rotation of the rotation mechanism to the removal means rotation shaft; the removal means is rotatably supported by the housing via the removal means rotation shaft so that the removal means faces the outside of the housing, the pair of rotation mechanisms are arranged in parallel such that the first rotation axes of the rotation mechanisms are both oriented in the up-down direction or the left-right direction of the housing, and are fixed to the housing via the fixing mechanism; the fixing mechanism supports the pair of rotating mechanisms so as to be movable in directions away from and toward each other, and has a separation state maintaining mechanism that maintains a state in which each of the pair of rotating mechanisms is moved away from each other to a position where the pair of rotating mechanisms contacts an inner wall surface of a duct to be cleaned, the end portions of the first rotation shafts of the pair of rotation mechanisms are connected to the removal means rotation shafts of the different cleaning mechanisms via the rotation transmission mechanisms, and the respective rotating disks are rotated around the removal means rotation shafts as rotation centers; The rotating housings of the pair of rotating mechanisms rotate in a state where each of them is in contact with the inner wall surface of the duct to be cleaned, and move the duct inner wall surface cleaning device forward or backward. A duct inner wall cleaning device characterized by the above.

4. The duct inner wall surface cleaning device according to claim 3, A sensor for detecting a distortion of the housing is provided, A duct inner wall cleaning device characterized in that, when the degree of distortion reaches or exceeds a predetermined value, the control mechanism reverses the rotation of the rotation mechanism, thereby causing the duct inner wall cleaning device to move backward.

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