函数wpdb-> query是否自动清理？

I am creating a plugin that uses SQL queries in it. I would like to know if this function is sanitized?

I have already tried using wpdb->prepare and get_result. neither of those like my query at all, but I may be missing something.

global $wpdb;

$table_name = $wpdb->prefix . 'TableName';

$result = $wpdb->query("INSERT INTO $table_name(foo, bar, foobar, fa, baar, fabaar, origin)
        VALUES ('" . $_POST['foo'] . "', 
        '" . $_POST['bar'] . "', 
        '" . $_POST['foobar'] . "', 
        '" . $_POST['fa'] . "',
        '" . $_POST['baar'] . "',
        '" . $_POST['fabaar'] . "',
        '" . $_POST['origin'] . "');");

echo 'Posting was a success!';
die;

I want this to run the query in a sanitized and safe way.