A hooking device with an undercut coupling comprising: - a hooking body configured to realise a coupling with a body to be hooked; wherein said hooking body comprises a coupling element having at least one undercut for realising a coupling with the body to be hooked, and a centring element, adapted to define a centring of said coupling element relative to said body to be hooked; wherein said coupling element and said centring element are reversibly movable between a working position, in which said coupling element and said centring element are at least partially facing, thus defining a substantially cylindrical conformation extending along a direction of extension of said hooking body, and an insertion position, in which said coupling element and said centring element are at least partially translated reciprocally along said direction of extension; - a locking means configured to switch said hooking body reversibly between a configuration of minimum dimensions, wherein said hooking body is couplable with play to said body to be hooked, and a configuration of maximum dimensions, wherein said locking means is adapted to be activated on the body to be hooked, thereby defining a geometric interference between said hooking body and the body to be hooked in order to prevent a relative movement between said hooking body and the body to be hooked; - an activation means operatively connected to said coupling element and resting on said centring element, said activation means being configured to activate said locking means; wherein said coupling element comprises a first portion, slidably coupled to said centring element, and a second portion, having said at least one undercut; said second portion being slidably mounted on said first portion and reversibly translatable between a position of maximum distancing, wherein it actuates said activation means, and a position of maximum nearing, wherein it does not actuate said activation means. - a hooking body configured to realise a coupling with a body to be hooked; wherein said hooking body comprises a coupling element having at least one undercut for realising a coupling with the body to be hooked, and a centring element, adapted to define a centring of said coupling element relative to said body to be hooked; wherein said coupling element and said centring element are reversibly movable between a working position, in which said coupling element and said centring element are at least partially facing, thus defining a substantially cylindrical conformation extending along a direction of extension of said hooking body, and an insertion position, in which said coupling element and said centring element are at least partially translated reciprocally along said direction of extension; wherein said hooking body comprises a coupling element having at least one undercut for realising a coupling with the body to be hooked, and a centring element, adapted to define a centring of said coupling element relative to said body to be hooked; wherein said coupling element and said centring element are reversibly movable between a working position, in which said coupling element and said centring element are at least partially facing, thus defining a substantially cylindrical conformation extending along a direction of extension of said hooking body, and an insertion position, in which said coupling element and said centring element are at least partially translated reciprocally along said direction of extension; - a locking means configured to switch said hooking body reversibly between a configuration of minimum dimensions, wherein said hooking body is couplable with play to said body to be hooked, and a configuration of maximum dimensions, wherein said locking means is adapted to be activated on the body to be hooked, thereby defining a geometric interference between said hooking body and the body to be hooked in order to prevent a relative movement between said hooking body and the body to be hooked; - an activation means operatively connected to said coupling element and resting on said centring element, said activation means being configured to activate said locking means;