The invention discloses an automatic and continuous filling system of blood sampling test tubes and relates to the technical field of test tube filling equipment. The problems that during filling, test tubes are easily abraded, and defective products of the test tubes cannot be automatically detected are solved. A machine body, vibration disks, guide pipe channels, a roller bed, a collecting box,a vibration tray, a mold frame, a tube installing mechanism, a transferring mechanism and a conveying mechanism are included; and a linear array camera, pneumatic fingers and a vacuum suction nozzle are arranged at the position, over the roller bed, on the machine body, and a push rod is fixed to the pneumatic fingers. According to the automatic and continuous filling system of the blood samplingtest tubes, the test tubes are automatically laid flatly through the roller bed, the conveyed test tubes are subjected to line scanning image comparison through the linear array camera, defective products of the test tubes are positioned, and are pushed out under the joint effects of the pneumatic fingers and the vacuum suction nozzle, and the quality of the filled test tubes is guaranteed; and due to the manner of roller bed guide pipes, the test tubes are arranged smoothly and orderly, the tube clamping phenomenon is reduced, and damage to the test tubes is further reduced.