A cleaning device for printing heads arranged in a group along an alignment direction (Y) with a lower surface lying on a main plane (T). The device comprises a collecting head (2), movable along the alignment direction (Y) on the main plane (Y), in contact with or near the lower surfaces of the heads. The print head (2) is movable between a first and a second position that are located at the ends of the group of heads. The collecting head (2) is provided with an inlet opening (21) for collecting material from the heads (T).