The invention relates to a semi-feeding device for harvesting peanuts and picking fruits, belonging to the technical field of agricultural machinery. The device comprises a pair of rollers racially provided with fruit-picking blades in differential phase distribution at intervals; the fruit-picking blades present continuous curved surfaces which gradually bend deviating from the rotary direction of the roller. For the convenient manufacture, the curved surface is in a circular arc shape. The device of the invention not only keeps high picking rate, but also effectively reduces the stem carrying rate of fruit pods and the rates of seedling breaking and root breaking, thus the harvest quality of a semi-feeding peanut combine harvester can be significantly improved.