This technology utilizes a novel fruit gripper, a rotating conveyor mechanism, and an integrated cleaning system with a swiveling high-pressure water jet and air nozzles for cleaning Atemoya fruit. Currently, the cleaning of Atemoya fruit for export is largely performed manually at collection yards, a method that can easily cause detached insects to be scattered. Manual cleaning may also result in incomplete fruit cleaning due to operator negligence or fatigue. This machine automates the in-line fruit cleaning process, replacing manual labor. Trials have shown a 3.3-fold increase in efficiency and a 100% removal rate for mealybugs, which helps improve the operational efficiency of Atemoya fruit collection yards and ensures fruit quality.