Provided is a fruit and vegetable harvesting device (10) for harvesting a fruit or vegetable (1) connected to a branch (3) via a pedicel (2). The fruit and vegetable harvesting device (10) includes: a harvesting hand (11) including a holding unit (12) having a suction pad (15) for holding the fruit or vegetable (1) and a finger unit (21) that can abut on the pedicel (2)； and a robot arm (31) that turns the harvesting hand (11) to cause the finger unit (21) abutting on the pedicel (2) to press the pedicel (2).
