The invention discloses a thermoplastic casting vibration infiltration pre-impregnation machine for fibers. The pre-impregnation machine comprises a first machine frame, a second machine frame, a third machine frame, a feeding device, a driving mechanism, a preprocessing mechanism, a vibration yarn spreading mechanism, two casting heads, two pairs of steel belt sets, at least one set of heating assemblies, a pair of vibration generators and a containing device, wherein the first machine frame, the second machine frame and the third machine frame are arranged from back to front in sequence, thefeeding device is arranged on the rear side of the first machine frame and contains a material, the vibration yarn spreading mechanism carries out yarn spreading treatment on the material, the two casting heads carry out preliminary infiltration and yarn fixing treatment on the upper surface and the lower surface of the material, the two pairs of steel belt sets are arranged on the upper side andthe lower side of the materials in mirror symmetry and jointly extrude the upper surface and the lower surface of the material and drive the material to move forward, the heating assemblies are arranged in vertical mirror symmetry, are distributed on the upper surface and the lower surface of the material and carry out heating treatment on the material, the vibration generators are arranged on the upper side and the lower side of the material in mirror symmetry and are used for breaking molecular chains of the material, and the containing device is used for containing the processed material.According to the technical scheme of the pre-impregnation machine, the precision of a thermoplastic prepreg is high, the working efficiency is high, and fiber woven fabric and various unidirectional fibers can be impregnated.