A cleaning device includes a cleaner, a plurality of cleaning sub-units, a sub-unit holder, a detachable transmission assembly, and a plurality of joint couplers. The cleaner scrapes off adhered material from a surface of a cleaning target while contacting the surface of the cleaning target. The cleaning sub-units each includes a holder to hold the cleaner and a drive-receive rotator to receive a driving force. The sub-unit holder holds the cleaning sub-units. The detachable transmission assembly includes a driving-force receive rotator to receive a driving force from an external unit and a plurality of drive transmission rotators to transmit the driving force received by the driving-force receive rotator to the drive-receive rotators of the cleaning sub-units. The joint couplers mounted on the drive-receive rotators and the drive transmission rotators couple the drive-receive rotators with the drive transmission rotators in a rotation axial direction.