The invention discloses an automatic decoction system of traditional Chinese medicine based on a truss robot. The automatic decoction system comprises: heating furnaces, wherein a plurality of heatingfurnaces are electrically connected with a controller through an interface and are responsible for performing related operations according to an allocation instruction after receiving the allocationinstruction of the controller; a central control module in signal communication with each heating furnace through the controller, wherein the central control module is responsible for receiving stateinformation of each heating furnace in real time, and issuing the allocation instruction to the controller and the truss robot at the same time, the allocation instruction is generated based on decoction process information, an idle state of each heating furnace and a positional relationship of the heating furnaces; and the truss robot in signal communication with the central control module and responsible for receiving the allocation instruction issued by the central control module, wherein the truss robot is controlled to clamp a corresponding decoction port and transport the decoction portwithin a movement range according to the allocation instruction. According to the automatic decoction system disclosed by the invention, the decoction ports are allocated and transported to the corresponding heating furnaces for heating by the truss robot, thereby improving the automation degree and improving the production efficiency.