The invention provides a four-axis truss robot which comprises an X-axis sliding base which is fixedly connected with a Y-axis shaft arm, the Y-axis shaft arm is provided with a Y-axis sliding base, aY-axis driving assembly drives the Y-axis sliding base to slide in the axis direction of the Y-axis shaft arm, a Z1 shaft driving assembly and a Z2 shaft driving assembly which are oppositely arranged are fixedly arranged on the Y-axis sliding base in the X-axis direction, a Z1-axis arm and a Z2-axis arm with the Z-axis direction as the axis are in sliding connection to the two sides of the Y-axis sliding base, and the Z1 shaft driving assembly and the Z2 shaft driving assembly control the Z1-axis arm and the Z2-axis arm to slide in the Z-axis direction. The four-axis truss robot is high in machining efficiency and high in accuracy, can move in X-axis, Y-axis, Z1-axis and Z2-axis four-axis direction, and achieves multiple operation sequences.