The invention relates to a fruit picking mechanism for automatic fruit picking machine. The mechanism includes a fruit picking workbench, a fruit drop box and a swing mechanism. The fruit drop box is fixed below the fruit picking workbench, the swing mechanism is fixed on the adapter plate. The fruit drop box includes a top box body, a under box body and an adjusting mechanism. The fruit picking workbench includes a base plate, a first length wise direction fixed plate, a second length wise direction fixed plate, a third length wise direction fixed plate, a fourth length wise direction fixed plate and a control panel. The swing mechanism includes a main support pillar, an auxiliary support pillar, a third oil cylinder and an adapter. The mechanism can be operated to pick fruits, can be used to carry the palm berry fruits dropped from the tree due to breaking offs; the fruits are then transferred to a transfer trolley. The mechanism is convenient to operate, is economical and practical, and can increase work efficiency.