The invention discloses a fully-automatic pipette suction tip filling machine. The fully-automatic pipette suction tip filling machine comprises a rack, a plurality of sorting distributing units, a taking unit, a suction tip box storing plate for storing a suction tip box, and an electronic control box; an X-axial moving guide rail and a first driving device are fixed to the rack; the sorting distributing units comprise vibrating discs and distributing devices; the taking unit comprises a Y-axial moving guide rail, a second driving device, a Z-axial moving guide rail, a third driving device and a taking device; the first driving device, the second driving device and the third driving device control the taking device to move in the X-axis, Y-axis and Z-axis direction; and the electronic control box controls the first driving device, the sorting distributing units and the taking unit to automatically operate. According to the fully-automatic pipette suction tip filling machine, the wholeoperation process does not need human intervention, the automation degree is high, filling of suction tips of different specifications can further be automatically controlled, and the compatibility degree of the suction tips of different types is high.