The utility model discloses a novel triaxial filling manipulator for box foaming. Including a base, fixing plates are fixed to the two sides of the top end of the base correspondingly. a first motor is mounted on one side of one group of fixed plates; a threaded rod is fixed to an output shaft of the first motor. a moving block is in threaded connection with the threaded rod; an L-shaped plate isfixed at the top end of the moving block; vertical plates are fixed to the two sides of the bottom end of the L-shaped plate correspondingly, a rack and four sets of guide rods are fixed between the two sets of vertical plates correspondingly, the rack is located among the four sets of guide rods, a concentric-square-shaped frame is slidably connected to the four sets of guide rods, a second motoris installed at the bottom end of one side of the concentric-square-shaped frame, and a transmission rod is fixed to an output shaft of the second motor. The filling gun is novel in design, ingeniousin structure, easy to operate and suitable for popularization, filling movement in the X-axis direction, the Y-axis direction and the Z-axis direction is facilitated, the lifting movement track of the filling gun can be adjusted according to different mold cavities, complex filling requirements can be met, and the filling gun is beneficial to improving the filling efficiency.