A support device for pneumatic prehensile members, in particular suction cups, for picking up and moving the parts, items and the like. It includes a fixed support body (support body) a tubular rod (12) moving axially in the body, and a return spring (13) between the body and rod. Between the tubular rod (12) and a distal end of the fixed support body (support body) are interposed some guide elements (14) provided to prevent torsion/rotation of the rod during its longitudinal movements in and with respect to the fixed body.