The invention discloses a stacking transferring mechanical device with a flexible clamping gripper, belongs to the technical field of transporting machinery, and solves the existing manual transporting and stacking problem. According to the technical scheme adopted by the invention, the stacking transferring mechanical device is characterized by comprising an X-direction moving mechanism, a Y-direction moving mechanism, a Z-direction moving mechanism and the flexible clamping gripper, wherein the X-direction moving mechanism is arranged on the bottom of the Z-direction moving mechanism; the Z-direction moving mechanism is arranged along the X-direction moving mechanism in a sliding mode; the Y-direction moving mechanism is arranged on the side surface of the Z-direction moving mechanism; the flexible clamping gripper is arranged at the bottom side of the Y-direction moving mechanism, and is arranged along the Y-direction moving mechanism in the sliding mode, so that movement in the X-direction, the Y-direction and the Z-direction of the flexible clamping gripper is realized; and meanwhile, a rotary motor is mounted on the middle part of the bottom end of an X-direction slide rail,so that the whole moving mechanism can rotate by 360 degrees, and therefore, taking and stacking at any angle are realized; and moreover, the stacking transferring mechanical device is matched with alifting rack for use, so that goods stacking efficiency and goods stacking effect are improved.