The invention relates to the technical field of auxiliary exoskeletons, in particular to an upper limb picking auxiliary exoskeleton. The upper limb picking auxiliary exoskeleton comprises a back supporting mechanism, two shoulder supporting mechanisms, two upper arm supporting mechanisms and two upper arm adjusting mechanisms. The shoulder supporting mechanisms comprise shoulder supporting plates. The upper arm supporting mechanisms comprise upper arm supporting plates. The upper arm adjusting mechanisms comprise racks and connecting rods; the racks comprise lower sawtooth parts and upper smooth parts; sliding blocks are arranged on the racks and connected with connecting blocks; and the connecting blocks are provided with tooth-shaped ends, and the connecting blocks are movably connectedwith the connecting rods. The upper limb picking auxiliary exoskeleton is simple in structure, small in size, convenient to operate and capable of helping fruit farmers to conveniently and easily pick fruit in the high positions, and the picking bearing ability and picking efficiency are improved so that people can complete picking work in a more labor-saving mode, the labor time is saved for thefruit farmers, physical power is saved, and more economic benefits are provided.