The invention relates to a fruit picking machine, and belongs to the technical field of agricultural and forestry machines. The fruit picking machine comprises a bracket, wherein the bracket is connected with a walking machine; a picking shovel is arranged at the front end of the bracket, and the back end of the picking shovel is connected with a chain type grid conveying device; a branch lifting roll is arranged at the middle upper part of the chain type grid conveying device; branch lifting rods are distributed on the branch lifting roll at intervals and extend along the radial direction; a cutting roll is arranged above the branch lifting roll, and circular disc cutting tools are distributed on the cutting roll at intervals along the axial direction; the back part of the cutting roll is connected with a splay-shaped air outlet which is externally connected with an air source; the output end of the chain type grid conveying device is connected with a spiral conveying device which is positioned in a material storage groove; the material outlet end of the spiral conveying device is connected with the input end of a fruit conveying belt; a fruit collecting box is arranged under the output end of the fruit conveying belt. The fruit picking machine has the advantages that the effective separating means, such as filtering and blowing, are adopted; because the branches are lifted by the branch lifting rods and are cut by the cutting device, the influence to the normal operation by the branches in the continuous picking process of falling fruits is thoroughly avoided.