The invention discloses an automatic picking machine for pericarpium zanthoxyli. The automatic picking machine comprises an outer pipe, the upper end of the outer pipe runs through a sliding sleeve tobe connected with an inner pipe, a bottom end inside the outer pipe is fixedly provided with a first linear actuator, one end of the output shaft of the first linear actuator is fixedly connected with the lower end of the inner pipe through a support plate, one side of the upper end of the inner pipe is provided with a revolving mechanism which comprises a first support arm, a second support armand a third support arm, a first motor is arranged on one side of the lower end inside the first support arm, a first gear fixedly sleeves the output shaft of the first motor, the stretchable functionof the inner pipe and the outer pipe are realized through the first linear actuator, by the revolving mechanism, the rotatable direction changing function of a picking head is realized, and a cameracooperates with a display screen to enable the picking process to be more intuitive and faster, so that the problems that the pericarpium zanthoxyli picking difficulty is relatively great and the pericarpium zanthoxyli picking efficiency is lowered are solved.