A device for picking up plucking fingers, comprising: - a working portion which delimits an inner compartment that extends along a prevailing extension axis to at least partially accommodate a plucking finger, and a distal opening for inserting said plucking finger into the inner compartment; - at least one pair of gripping members (8, 12), at least one of which is movable between an insertion position (Fig. 7f) of the plucking finger, wherein the movable gripping member is spaced apart from the other gripping member, and a holding position (Fig. 7a), wherein said members (8, 12) cooperate to hold the finger in the inner compartment, and vice versa; wherein one or both gripping members (8, 12) are further movable between a rest position (Fig. 7b) and a pick-up position (Fig. 7d), wherein said at least one gripping member (8, 12) is moved proximally in the inner compartment, and vice versa; characterised in that the device further comprises: - motor means for moving the movable gripping member from the insertion position to the holding position, and for moving one or both gripping members (8, 12) from the rest position to the pick-up position of the plucking finger, the working portion comprises a free edge which delimits an abutment surface, for example of an annular shape, which at least partially circumscribes the distal opening, and wherein the movement of the gripping member (8, 12) towards the pick-up position occurs while moving away from said surface, wherein the movable gripping member is adjacent to the other gripping member in the holding position, and wherein the motor means are manageable so that the gripping member (8, 12) is moved towards the pick-up position only after the holding position is reached, wherein the movable gripping member is rotatably mounted (about an axis R1) on a guide element of the working portion between the holding position and the insertion position, and wherein the guide element is slidably mounted along the prevailing extension axis, integral with the gripping member (8, 12) towards the pick-up position. - a working portion which delimits an inner compartment that extends along a prevailing extension axis to at least partially accommodate a plucking finger, and a distal opening for inserting said plucking finger into the inner compartment; - at least one pair of gripping members (8, 12), at least one of which is movable between an insertion position (Fig. 7f) of the plucking finger, wherein the movable gripping member is spaced apart from the other gripping member, and a holding position (Fig. 7a), wherein said members (8, 12) cooperate to hold the finger in the inner compartment, and vice versa; wherein one or both gripping members (8, 12) are further movable between a rest position (Fig. 7b) and a pick-up position (Fig. 7d), wherein said at least one gripping member (8, 12) is moved proximally in the inner compartment, and vice versa; characterised in that the device further comprises: - motor means for moving the movable gripping member from the insertion position to the holding position, and for moving one or both gripping members (8, 12) from the rest position to the pick-up position of the plucking finger, the working portion comprises a free edge which delimits an abutment surface, for example of an annular shape, which at least partially circumscribes the distal opening, and wherein the movement of the gripping member (8, 12) towards the pick-up position occurs while moving away from said surface, wherein the movable gripping member is adjacent to the other gripping member in the holding position, and wherein the motor means are manageable so that the gripping member (8, 12) is moved towards the pick-up position only after the holding position is reached, wherein the movable gripping member is rotatably mounted (about an axis R1) on a guide element of the working portion between the holding position and the insertion position, and wherein the guide element is slidably mounted along the prevailing extension axis, integral with the gripping member (8, 12) towards the pick-up position.