The invention relates to a 4-PRUR parallel robot. The 4-PRUR parallel robot comprises a moving platform, a fixed platform and a plurality of branch chains, wherein one end of each of the branch chains is connected with the moving platform, and the other ends of the branch chains are connected with the fixed platform; the branch chains comprise upper branch chains, middle branch chains, lower branch chains, revolute pairs, universal hinges and moving pairs driven by a motor; the revolute pairs comprise vertical revolute pairs and transverse revolute pairs; the upper ends of the upper branch chains are rotatably connected with the moving platform through the vertical revolute pairs; the lower ends of the upper branch chains are connected with the upper ends of the middle branch chains through the universal hinges; the lower ends of the middle branch chains are connected with the upper ends of the lower branch chains through the transverse revolute pairs; the lower ends of the lower branch chains are in sliding connection with the fixed platform through the moving pairs; linear tracks and an annular track are arranged on the fixed platform; a clamping opening is formed in the moving platform; and a fixing part used for fixing a pull ring is arranged on each of the moving pairs. The 4-PRUR parallel robot provided by the technical scheme of the invention can not only be used for clamping of various spray heads and mechanical arms, can but also used for realizing free rotation of the moving platform, and the height of the moving platform can be freely adjusted.