The invention discloses a truss manipulator long-stroke self-lubrication system, which comprises a lubrication mechanism slidably fastened on a slide rail. The lubrication mechanism is connected to a lubrication oil pump through a hose pipe; the lubrication oil pump is connected to an oil tank; the lubrication mechanism comprises an inner sleeve and an outer sleeve; the inner sleeve and the outer sleeve are sleeved together through hydraulic connecting pieces; first rubber sleeves are arranged on the bottom parts of the inner sleeves; first sealing sleeves are arranged on the inner sides of the first rubber sleeves; second rubber sleeves are arranged on the bottom parts of the outer sleeve; a first oil spray nozzle is arranged in the inner sleeve; two second oil spray nozzles are symmetrically arranged in a gap between the outer sleeve and the inner sleeve; a controller is fixed on the outer side of the lubrication mechanism; an input end of the controller receives a speed and position feedback signal of a coder of a truss manipulator; and an output end of the controller controls the hydraulic connecting piece, the first oil spray nozzle and the second oil spray nozzles. The truss manipulator long-stroke self-lubrication system provided by the invention can overcome the defects of the prior art, and the lubrication effect of the slide rail of the truss manipulator is improved.