The invention discloses a continuous undertaking device which comprises a taking and placing mechanism, an undertaking mechanism and a cigarette bar pushing mechanism. The undertaking mechanism comprises a support, temporary storage plates symmetrically installed on the support, an air cylinder located at the bottom of the support and pushing the temporary storage plates to move, a supporting plate arranged between the temporary storage plates, a supporting frame located at the bottom of the supporting plate, a guide rail, a sliding block and a motor, wherein the sliding block is arranged on the side edge of the supporting frame, the guide rail is perpendicularly arranged on the support and located at the bottom of the support, the sliding block is installed in the guide rail, and the motor drives the sliding block to move. The way that cigarette bars are alternately stacked to the temporary storage plates and the supporting plate is adopted, continuous stacking of the cigarette bars is achieved, conveying is uninterrupted, the time period of stacking and conveying cigarette bars into a box sealing unit is greatly shortened, the stacking and box sealing efficiency is effectively improved, and the whole bearing capacity and stability of the undertaking device are greatly improved since the triangular supporting frame is designed at the bottom of the supporting plate.