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Then do
sudo find dir_to_copy_from -regextype posix-extended -regex ".*\.(txt|xls|pdf)" -exec cp {} dir_to_copy_to \;

Example:
sudo find /home/codecaine21/Documents/ -regextype posix-extended...

sudo find . -regextype posix-extended -regex ".*\.(txt|xls|pdf)" -exec cp {} dest_dir \;

or

cp `find . | egrep "*\.(txt|pdf|xls)"` dest_dir

Find in conjunction with the period(.) will start...