The invention discloses a three-freedom-degree pneumatic spraying nozzle device and an automatic picking machine. The three-freedom-degree pneumatic spraying nozzle device comprises an upper set of moving mechanism, a lower set of moving mechanism, a front set of moving mechanism, a rear set of moving mechanism, spraying nozzle pitching adjustment mechanisms and spraying nozzle assemblies, wherein the upper set of moving mechanism and the lower set of moving mechanism are arranged on the left and right sides; the front set of moving mechanism and the rear set of moving mechanism are installed on moving plates of the upper and lower moving mechanisms respectively; the spraying nozzle assemblies are located at the left and right ends of the middle and installed on moving plates of the front and rear moving mechanisms through the spraying nozzle pitching adjustment mechanisms. The direction of spraying nozzles can be adjusted at three freedom degrees and adjusted timely according to the actual tracks of materials to be separated, and therefore the problem of decrease of separation accuracy caused by the air outlet direction of the spraying nozzles is effectively solved.