Air conditioning equipment using duct piping plays a role of keeping the indoor air of various buildings clean. When dust in the duct is sent indoors together with ventilation air, it causes health damage such as allergy and asthma. Therefore, duct cleaning is necessary. However, the existing cleaning methods are inadequate for the Ducts having small diameter and many curved points, that are used in houses. Thus, to clean such ducts, we have developed a air duct cleaning robot for housing based on peristaltic crawling locomotion. The robot cleans by the cleaning unit, but the speed is slow. Therefore, in this paper, we propose a cleaning tool as a substitute for the cleaning unit and aim for speed up. After that, driving experiments and cleaning experiments are performed to evaluate the performance.