Extensible gripping device configured for gripping a tool, wherein said extensible gripping device comprises: - gripping members, - an extensible structure for supporting and moving said gripping members along a gripping direction, - fastening plates configured for fixing said extensible gripping device to a frame, wherein said fastening plates delimit said extensible gripping device from opposite sides and are connected to each other via a transversal element, wherein said extensible structure comprises two lateral plates operatively slidably connected to opposite sides of said transversal element, a first cradle element slidably connected to said lateral plates and a second cradle element slidably connected to said first cradle element, wherein said gripping members are operatively connected to said second cradle element, - a motor unit operatively connected to said lateral plates via a first transmission unit, wherein said first transmission unit is configured to move said lateral plates relative to said fastening plates along said gripping direction, - a second transmission unit configured to kinematically connect said lateral plates with said first cradle element and said first cradle element with said second cradle element via respective connections of pinion-rack type, so that the movement of said lateral plates with respect to said fastening plates causes a simultaneous movement of said first cradle element which, in turn, causes a simultaneous movement of said second cradle element all with the same direction of advancement along said gripping direction, wherein said motor unit is constrained to said transversal element and said first transmission unit comprises a mechanical transmission for connecting the motion output of motor unit to both said lateral plates. - gripping members, - an extensible structure for supporting and moving said gripping members along a gripping direction, - fastening plates configured for fixing said extensible gripping device to a frame, wherein said fastening plates delimit said extensible gripping device from opposite sides and are connected to each other via a transversal element, wherein said extensible structure comprises two lateral plates operatively slidably connected to opposite sides of said transversal element, a first cradle element slidably connected to said lateral plates and a second cradle element slidably connected to said first cradle element, wherein said gripping members are operatively connected to said second cradle element, wherein said fastening plates delimit said extensible gripping device from opposite sides and are connected to each other via a transversal element, wherein said extensible structure comprises two lateral plates operatively slidably connected to opposite sides of said transversal element, a first cradle element slidably connected to said lateral plates and a second cradle element slidably connected to said first cradle element, wherein said gripping members are operatively connected to said second cradle element, - a motor unit operatively connected to said lateral plates via a first transmission unit, wherein said first transmission unit is configured to move said lateral plates relative to said fastening plates along said gripping direction, - a second transmission unit configured to kinematically connect said lateral plates with said first cradle element and said first cradle element with said second cradle element via respective connections of pinion-rack type, so that the movement of said lateral plates with respect to said fastening plates causes a simultaneous movement of said first cradle element which, in turn, causes a simultaneous movement of said second cradle element all with the same direction of advancement along said gripping direction,