The invention discloses a residual soil tipping device for a gantry crane used in construction of underground. The residual soil tipping device mainly comprises a tipping hook, a sliding seat, a bearing seat, a screw rod, a guide sleeve, a tooth-type coupler, a speed reducer, a motor, a fixed guide rail, a moving guide rail, a connecting rod, position switches and a pin shaft and is mainly characterized in that: a discharge mechanism is installed on a trolley of the crane to realize output of residual soil at arbitrary position; the motor and the speed reducer are used for directly driving the sliding seat to move on the fixed guide rail through the screw rod, so automatic hanging and discharge of the tipping hook is realized; and during working of the residual soil tipping device, a determined position for hanging and discharging of the tipping hook is controlled by the position switches installed at the two ends of the fixed guide rail. The residual soil tipping device adopts pure mechanical transmission, is simple in structure, low in manufacturing cost, low in fault rate, convenient and easy for maintenance, safety, reliable, and high in working efficiency.