The invention relates to a full-hydraulic continuous-penetration static sounding machine with double oil cylinder groups. Two groups of oil cylinders are adopted and mounted on a frame in a cross shape in a manner of being divided into an upper layer and a lower layer; each group of oil cylinder is fixedly connected together through a cross beam; hydraulic chucks are mounted on the cross beams; stroke limiting switches are mounted below the oil cylinders; a probe rod passes through center inner holes of the two hydraulic chucks; and a hydraulic control system is further provided with valve groups, reversing valves, a hydraulic pump, an electro-hydraulic proportional speed regulating valve KT, a relief valve, a pressure gauge and an oil box. The static sounding machine adopts double oil cylinder group feeding and automatic reversing control; the double hydraulic chucks automatically clamps or loosens the probe rod and automatically achieves continuous uninterrupted feeding through the cooperation of the movement of the oil cylinders; and steady uniform speed feeding is achieved by utilizing the electro-hydraulic proportional speed regulating valve. The static sounding machine has the advantages of simple structure, reliable operation, high efficiency, economy and durability, is convenient for operation, is suitable for the technical field of geotechnical engineering, such as geotechnical engineering, high-speed railway construction, expressway construction and port engineering, and has a wide application prospect.